TrajectoryObstacle< GEOM_TYPE > Class Template Reference

Inheritance diagram for TrajectoryObstacle< GEOM_TYPE >:

Collaboration diagram for TrajectoryObstacle< GEOM_TYPE >:

Public Member Functions
	TrajectoryObstacle (const GEOM_TYPE &geom, TrajectoryPath traj)
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)
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

TrajectoryObstacle()

template<typename GEOM_TYPE >

TrajectoryObstacle ( const GEOM_TYPE &  geom, TrajectoryPath  traj  )

explicit

Construct a TrajectoryObstacle with GEOM_TYPE

Parameters

geom	GEOM_TYPE to make obstacle with
traj	Trajectory which the obstacle is following

Member Function Documentation

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

Reimplemented from GeomObstacle< GEOM_TYPE >.

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

Reimplemented from GeomObstacle< 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

Reimplemented from GeomObstacle< GEOM_TYPE >.

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

Reimplemented from GeomObstacle< GEOM_TYPE >.

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

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