GeomObstacle< GEOM_TYPE > Class Template Reference

Inheritance diagram for GeomObstacle< GEOM_TYPE >:

Collaboration diagram for GeomObstacle< GEOM_TYPE >:

Public Member Functions
	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

Protected Attributes
const GEOM_TYPE	geom_

Constructor & Destructor Documentation

GeomObstacle()

template<typename GEOM_TYPE >

GeomObstacle ( const GEOM_TYPE &  geom )

explicit

Construct a static GeomObstacle with GEOM_TYPE

Parameters

geom	GEOM_TYPE to make obstacle with

Member Function Documentation

accept()

template<typename GEOM_TYPE >

void accept ( ObstacleVisitor &  visitor ) const

overridevirtual

Accepts an Obstacle Visitor and calls the visit function

Parameters

visitor

An Obstacle Visitor

Implements Obstacle.

axisAlignedBoundingBox()

template<typename GEOM_TYPE >

Rectangle axisAlignedBoundingBox ( double  inflation_radius = 0 ) const

overridevirtual

Create the axis aligned bounding box for this obstacle

Parameters

inflation_radius

The radius to inflate the obstacle by before creating the AABB

Returns

Rectangle representing the axis aligned bounding box

Implements Obstacle.

closestPoint()

template<typename GEOM_TYPE >

Point closestPoint ( const Point &  p ) const

overridevirtual

Finds the Point closest to the given Point that is outside of the obstacle.

Parameters

p	the point.

Returns

the Point on polygon closest to point.

Implements Obstacle.

contains()

template<typename GEOM_TYPE >

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

overridevirtual

Determines whether the given Point is contained within this Obstacle

Parameters

p	Point to check if contained by obstacle
t_sec	Time in seconds into the future to check if point is contained.

Returns

whether the Point p is contained within this Obstacle

Implements Obstacle.

Reimplemented in TrajectoryObstacle< GEOM_TYPE >.

createObstacleProto()

template<typename GEOM_TYPE >

TbotsProto::Obstacle createObstacleProto ( ) const

overridevirtual

Creates an obstacle proto representation

Returns

the obstacle proto

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.

Reimplemented in TrajectoryObstacle< GEOM_TYPE >.

getGeom()

template<typename GEOM_TYPE >

const GEOM_TYPE getGeom

(

void

)

const

Gets the underlying GEOM_TYPE

Returns

geom type

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.

Reimplemented in TrajectoryObstacle< GEOM_TYPE >.

rasterize()

template<typename GEOM_TYPE >

std::vector< Point > rasterize ( const double  resolution_size ) const

overridevirtual

Determines what coordinates on the field are blocked by this Obstacle

Parameters

resolution_size

The minimum size of the grid cells to rasterize the obstacle into

Returns

a set of points covered by 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.

Reimplemented in TrajectoryObstacle< GEOM_TYPE >.

toString()

template<typename GEOM_TYPE >

std::string toString ( void  ) const

overridevirtual

Output string to describe the obstacle

Returns

string that describes the obstacle

Implements Obstacle.

---

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

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