ConstVelocityObstacle< GEOM_TYPE > Class Template Reference

Inheritance diagram for ConstVelocityObstacle< GEOM_TYPE >:

Collaboration diagram for ConstVelocityObstacle< GEOM_TYPE >:

Public Member Functions
	ConstVelocityObstacle (const GEOM_TYPE &geom, Vector velocity, double max_time_horizon_sec)
bool	contains (const Point &p, const double t_sec=0) const override
double	distance (const Point &p, const double t_sec=0) const override
double	signedDistance (const Point &p, const double t_sec=0) const override
bool	intersects (const Segment &segment, const double t_sec=0) const override
Public Member Functions inherited from GeomObstacle< GEOM_TYPE >
	GeomObstacle (const GEOM_TYPE &geom)
bool	contains (const Point &p, const double t_sec=0) const override
double	distance (const Point &p, const double t_sec=0) const override
double	signedDistance (const Point &p, const double t_sec=0) const override
bool	intersects (const Segment &segment, const double t_sec=0) const override
Point	closestPoint (const Point &p) const override
TbotsProto::Obstacle	createObstacleProto () const override
Rectangle	axisAlignedBoundingBox (double inflation_radius=0) const override
std::string	toString (void) const override
void	accept (ObstacleVisitor &visitor) const override
std::vector< Point >	rasterize (const double resolution_size) const override
const GEOM_TYPE	getGeom (void) const

Additional Inherited Members
Protected Attributes inherited from GeomObstacle< GEOM_TYPE >
const GEOM_TYPE	geom_

Constructor & Destructor Documentation

ConstVelocityObstacle()

template<typename GEOM_TYPE >

ConstVelocityObstacle ( const GEOM_TYPE &  geom, Vector  velocity, double  max_time_horizon_sec  )

explicit

Construct a ConstVelocityObstacle with GEOM_TYPE

Parameters

geom	GEOM_TYPE to make obstacle with
velocity	Velocity of the obstacle
max_time_horizon_sec	Maximum time into the future the position of the obstacle is predicted for in seconds. This is needed since the prediction of the obstacle's position in the future becomes less accurate as time increases.

Member Function Documentation

contains()

template<typename GEOM_TYPE >

bool contains ( const Point &  p, const double  t_sec = 0  ) const

overridevirtual

Instead of shifting the obstacle, it is simpler to shift the point in the opposite direction.

Implements Obstacle.

distance()

template<typename GEOM_TYPE >

double distance ( const Point &  p, const double  t_sec = 0  ) const

overridevirtual

Gets the minimum distance from the obstacle to the point

Parameters

p	Point to get distance to
t_sec	Time in seconds into the future to get distance to.

Returns

distance to point

Implements Obstacle.

intersects()

template<typename GEOM_TYPE >

bool intersects ( const Segment &  segment, const double  t_sec = 0  ) const

overridevirtual

Determines whether the given Segment intersects this Obstacle

Parameters

segment	Segment to check if intersects with this Obstacle
t_sec	Time in seconds into the future to check if segment intersects.

Returns

true if the given Segment intersects this Obstacle

Implements Obstacle.

signedDistance()

template<typename GEOM_TYPE >

double signedDistance ( const Point &  point, const double  t_sec = 0  ) const

overridevirtual

Gets the signed distance from the obstacle's perimeter to the point. That is, if point is inside the obstacle then distance will be negative. See https://iquilezles.org/articles/distfunctions2d/ for details on the maths

Parameters

point	Point to get distance to
t_sec	Time in seconds into the future to get distance to.

Returns

distance from point to nearest point on perimeter of obstacle. Positive if outside, negative if inside

Implements Obstacle.

---

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

• src/software/ai/navigator/obstacle/const_velocity_obstacle.hpp