RobotNavigationObstacleFactory Class Reference

#include <robot_navigation_obstacle_factory.h>

Public Member Functions
	RobotNavigationObstacleFactory (TbotsProto::RobotNavigationObstacleConfig config)
std::vector< ObstaclePtr >	createObstaclesFromMotionConstraints (const std::set< TbotsProto::MotionConstraint > &motion_constraints, const World &world) const
std::vector< ObstaclePtr >	createObstaclesFromMotionConstraint (const TbotsProto::MotionConstraint &motion_constraint, const World &world) const
ObstaclePtr	createStaticObstacleFromRobotPosition (const Point &robot_position) const
ObstaclePtr	createStadiumEnemyRobotObstacle (const Robot &enemy_robot) const
ObstaclePtr	createConstVelocityEnemyRobotObstacle (const Robot &enemy_robot) const
ObstaclePtr	createFromMovingRobot (const Robot &robot, const TrajectoryPath &traj) const
ObstaclePtr	createFromBallPosition (const Point &ball_position) const
ObstaclePtr	createFromShape (const Circle &circle) const
ObstaclePtr	createFromShape (const Polygon &polygon) const
ObstaclePtr	createFromShape (const Rectangle &rectangle) const
ObstaclePtr	createFromShape (const Stadium &stadium) const
ObstaclePtr	createCircleWithTrajectory (const Circle &circle, const TrajectoryPath &traj) const
ObstaclePtr	createCircleWithConstVelocity (const Circle &circle, const Vector &velocity) const
ObstaclePtr	createFromBallPlacement (const Point &placement_point, const Point &ball_point) const

Detailed Description

The RobotNavigationObstacleFactory creates obstacles for navigation with a robot NOTE: All obstacles created include at least an additional robot radius margin on all sides of the obstacle

Constructor & Destructor Documentation

RobotNavigationObstacleFactory()

RobotNavigationObstacleFactory

(

TbotsProto::RobotNavigationObstacleConfig

config

)

Create an RobotNavigationObstacleFactory with the given configuration

Parameters

config

The configuration used to determine how obstacles should be generated

Member Function Documentation

createCircleWithConstVelocity()

ObstaclePtr createCircleWithConstVelocity	(	const Circle &	circle,
		const Vector &	velocity
	)		const

Generate a const velocity based circular obstacle with additional radius scaling

Parameters

circle	The circle to make obstacle with
velocity	The velocity of the obstacle

Returns

ObstaclePtr to the constant velocity obstacle

createCircleWithTrajectory()

ObstaclePtr createCircleWithTrajectory	(	const Circle &	circle,
		const TrajectoryPath &	traj
	)		const

Generate a trajectory based circular obstacle with additional radius scaling

Parameters

circle	The circle to make obstacle with
traj	Trajectory which the obstacle is following

Returns

ObstaclePtr to the trajectory based obstacle

createConstVelocityEnemyRobotObstacle()

ObstaclePtr createConstVelocityEnemyRobotObstacle

(

const Robot &

enemy_robot

)

const

Create dynamic circle obstacle for enemy robot with additional radius scaling

Parameters

enemy_robot

Enemy robot to create the obstacle for

Returns

obstacle around the robot

createFromBallPlacement()

ObstaclePtr createFromBallPlacement	(	const Point &	placement_point,
		const Point &	ball_point
	)		const

Returns an obstacle with the shape of the BallPlacementZone if the state is in enemy ball placement

Parameters

placement_point	the point where the ball will be placed
ball_point	the point where the ball currently is

Returns

ObstaclePtr

createFromBallPosition()

ObstaclePtr createFromBallPosition

(

const Point &

ball_position

)

const

Create circle obstacle around ball

Parameters

ball_position

ball position to make obstacle around

Returns

obstacle around the ball

createFromMovingRobot()

ObstaclePtr createFromMovingRobot	(	const Robot &	robot,
		const TrajectoryPath &	traj
	)		const

Create dynamic circle obstacle around robot with additional radius scaling

Parameters

robot	robot to create the obstacle for
traj	Trajectory which the obstacle is following

Returns

moving obstacle around the robot

createFromShape()

ObstaclePtr createFromShape

(

const Circle &

circle

)

const

Returns an obstacle for the shape NOTE: as with all other obstacles created by RobotNavigationObstacleFactory, the shapes are expanded on all sides to account for the radius of the robot

Parameters

The	shape to expand

Returns

ObstaclePtr

createObstaclesFromMotionConstraint()

std::vector< ObstaclePtr > createObstaclesFromMotionConstraint	(	const TbotsProto::MotionConstraint &	motion_constraint,
		const World &	world
	)		const

Create static obstacles for the given motion constraint

Parameters

motion_constraint	The motion constraint to create obstacles for
world	World we're enforcing motion constraints in

Returns

Obstacles representing the given motion constraint

createObstaclesFromMotionConstraints()

std::vector< ObstaclePtr > createObstaclesFromMotionConstraints	(	const std::set< TbotsProto::MotionConstraint > &	motion_constraints,
		const World &	world
	)		const

Create obstacles for the given motion constraints

Parameters

motion_constraints	The motion constraints to create obstacles for
world	World we're enforcing motion constraints in

Returns

Obstacles representing the given motion constraints

createStadiumEnemyRobotObstacle()

ObstaclePtr createStadiumEnemyRobotObstacle

(

const Robot &

enemy_robot

)

const

Create a stadium shaped obstacle for enemy robot with additional radius scaling

Parameters

enemy_robot

Enemy robot to create the obstacle for

Returns

obstacle around the robot

createStaticObstacleFromRobotPosition()

ObstaclePtr createStaticObstacleFromRobotPosition

(

const Point &

robot_position

)

const

Create circle obstacle around robot with additional radius scaling

Parameters

robot_position

robot position

Returns

obstacle around the robot

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

• src/software/ai/navigator/obstacle/robot_navigation_obstacle_factory.h
• src/software/ai/navigator/obstacle/robot_navigation_obstacle_factory.cpp