AngleMap Class Reference

#include <angle_map.h>

Public Member Functions
	AngleMap (Angle top_angle, Angle bottom_angle, size_t reserved_num_obstacles=1)
	AngleMap (AngleSegment angle_seg, size_t max_num_obstacles)
const AngleSegment &	getAngleSegment () const
void	addNonViableAngleSegment (AngleSegment &obstacle_angle_seg)
AngleSegment	getBiggestViableAngleSegment ()

Detailed Description

Represents an AngleMap that is confined to a top and bottom angle, with angles described as going from pi -> 0 -> -pi

NOTE: If we have two angle segments: a = 0 -> 45 b = 90 -> 180

These two get added to the map

Now we have another angle segment: c = 45 -> 90

If c gets added to the map it will only merge with one of a or b, not both. Merging with the one that was placed in the map first

The map will still have two angle segments even though it should only have one since they all overlap. Sorting before hand solves this so they'll all be in an incremental order

Constructor & Destructor Documentation

AngleMap() [1/2]

AngleMap	(	Angle	top_angle,
		Angle	bottom_angle,
		size_t	reserved_num_obstacles = 1
	)

Constructs an AngleMap with a specified top angle, bottom angle, and max number of possible occupied AngleSegments within this map

Parameters

top_angle	the top angle (most positive) of the AngleSegment this map occupies
bottom_angle	the bottom angle (most negative) of the AngleSegment this map occupies
max_num_obstacles	the max number of possible occupied AngleSegments within this map

AngleMap() [2/2]

AngleMap	(	AngleSegment	angle_seg,
		size_t	max_num_obstacles
	)

Constructs an AngleMap with a specified AngleSegment and max number of possible occupied AngleSegments within this map

Parameters

angle_seg	the AngleSegment this map occupies
max_num_obstacles	the max number of possible occupied AngleSegments within this map

Member Function Documentation

addNonViableAngleSegment()

void addNonViableAngleSegment

(

AngleSegment &

obstacle_angle_seg

)

Adds an AngleSegment to this map and marks it as occupied

Parameters

angleSegment

the AngleSegment to mark as occupied

getAngleSegment()

const AngleSegment & getAngleSegment

(

)

const

Gets the AngleSegment that this AngleMap occupies

Returns

the AngleSegment that this AngleMap occupies

getBiggestViableAngleSegment()

AngleSegment getBiggestViableAngleSegment

(

)

Gets the biggest AngleSegment within the map that isn't occupied

Returns

the biggest AngleSegment within the map that isn't occupied

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The documentation for this class was generated from the following files:

• src/software/geom/angle_map.h
• src/software/geom/angle_map.cpp