#include <obstacle.hpp>

Inheritance diagram for Obstacle:

[legend]

Public Member Functions
virtual bool	contains (const Point &p, const double t_sec=0) const =0

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

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

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

virtual Point	closestPoint (const Point &p) const =0

virtual std::vector< Point >	rasterize (const double resolution_size) const =0

virtual TbotsProto::Obstacle	createObstacleProto () const =0

virtual Rectangle	axisAlignedBoundingBox (const double inflation_radius) const =0

virtual std::string	toString (void) const =0

virtual void	accept (ObstacleVisitor &visitor) const =0

Detailed Description

An obstacle is an area to avoid for navigation

Member Function Documentation

◆ accept()

virtual void accept ( ObstacleVisitor & visitor ) const

pure virtual

Accepts an Obstacle Visitor and calls the visit function

Parameters

visitor An Obstacle Visitor

Implemented in GeomObstacle< GEOM_TYPE >.

◆ axisAlignedBoundingBox()

virtual Rectangle axisAlignedBoundingBox ( const double inflation_radius ) const

pure virtual

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

Implemented in GeomObstacle< GEOM_TYPE >.

◆ closestPoint()

virtual Point closestPoint ( const Point & p ) const

pure virtual

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.

Implemented in GeomObstacle< GEOM_TYPE >.

◆ contains()

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

pure virtual

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

Implemented in ConstVelocityObstacle< GEOM_TYPE >, GeomObstacle< GEOM_TYPE >, and TrajectoryObstacle< GEOM_TYPE >.

◆ createObstacleProto()

virtual TbotsProto::Obstacle createObstacleProto ( ) const

pure virtual

Creates an obstacle proto representation

Returns: the obstacle proto

Implemented in GeomObstacle< GEOM_TYPE >.

◆ distance()

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

pure virtual

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

Implemented in ConstVelocityObstacle< GEOM_TYPE >, GeomObstacle< GEOM_TYPE >, and TrajectoryObstacle< GEOM_TYPE >.

◆ intersects()

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

pure virtual

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

Implemented in ConstVelocityObstacle< GEOM_TYPE >, GeomObstacle< GEOM_TYPE >, and TrajectoryObstacle< GEOM_TYPE >.

◆ rasterize()

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

pure virtual

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

Implemented in GeomObstacle< GEOM_TYPE >.

◆ signedDistance()

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

pure virtual

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

Implemented in ConstVelocityObstacle< GEOM_TYPE >, GeomObstacle< GEOM_TYPE >, and TrajectoryObstacle< GEOM_TYPE >.

◆ toString()

virtual std::string toString ( void ) const

pure virtual

Output string to describe the obstacle

Returns: string that describes the obstacle

Implemented in GeomObstacle< GEOM_TYPE >.

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ accept()

◆ axisAlignedBoundingBox()

◆ closestPoint()

◆ contains()

◆ createObstacleProto()

◆ distance()

◆ intersects()

◆ rasterize()

◆ signedDistance()

◆ toString()