Robot Simulator of the Robotics Group for Self-Organization of Control: StraightLine Class Reference

# StraightLine Class Reference

Abstract class (interface) for obstacles. More...

`#include <straightline.h>`

Inherits AbstractTrackSection.

Collaboration diagram for StraightLine:
[legend]

List of all members.

## Public Member Functions
| StraightLine (const Position &p, const double &angle)
| Constructor.
| StraightLine (const Matrix &pose)
| Constructor.
virtual | ~StraightLine ()
void | setCurveAngle (double alpha)
virtual Matrix | getTransformedEndMatrix ()
| gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there if you want to place the new segment, you must muliplicate: getTransformedEndMatrix()*getPositionMatrix();
virtual bool | isInside (const Position &p)
| returns true if the real coordinates lay inside of the segment
virtual double | getSectionIdValue (const Position &p)
| returns a value between 0 and length that tells at which section you are on the segment.
virtual double | getWidthIdValue (const Position &p)
| returns a value between 0 and width that tells at which width you are on the segment, more to right or more to the left.
virtual double | getLength ()
| returns the length of the segment, here it is the length of the arc formula is: radius * angle;
virtual double | getWidth ()
| returns the width of the segment,
virtual void | setWidth (double w)
| sets the width of the segment,
virtual void | draw ()
| draws the obstacle (4 boxes for the playground)
virtual void | create (dSpaceID space)
virtual void | destroy ()
## Protected Member Functions
void | setProperties ()
## Protected Attributes
double | length
double | width
dGeomID | wallLeft
dGeomID | wallRight
double | widthWall
double | heightWall
double | angle
double | isLeft
bool | obstacle_exists
Color | color
| obstacle color

## Detailed Description

Abstract class (interface) for obstacles.

## Constructor & Destructor Documentation

StraightLine | ( | const Position & | p,
|  | const double & | angle |
| ) |  |  |

Constructor.

StraightLine | ( | const Matrix & | pose | ) |

Constructor.

virtual ~StraightLine | ( |  | ) | `[inline, virtual]`

## Member Function Documentation

void create | ( | dSpaceID | space | ) | `[virtual]`

Implements AbstractTrackSection.

void destroy | ( |  | ) | `[virtual]`

Implements AbstractTrackSection.

void draw | ( |  | ) | `[virtual]`

draws the obstacle (4 boxes for the playground)

Implements AbstractTrackSection.

double getLength | ( |  | ) | `[virtual]`

returns the length of the segment, here it is the length of the arc formula is: radius * angle;

Implements AbstractTrackSection.

double getSectionIdValue | ( | const Position & | p | ) | `[virtual]`

returns a value between 0 and length that tells at which section you are on the segment.

returns -1 if no IdValue can be given

Implements AbstractTrackSection.

Matrix getTransformedEndMatrix | ( |  | ) | `[virtual]`

gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there if you want to place the new segment, you must muliplicate: getTransformedEndMatrix()*getPositionMatrix();

gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there

Implements AbstractTrackSection.

double getWidth | ( |  | ) | `[virtual]`

returns the width of the segment,

Implements AbstractTrackSection.

double getWidthIdValue | ( | const Position & | p | ) | `[virtual]`

returns a value between 0 and width that tells at which width you are on the segment, more to right or more to the left.

returns -1 if no WidthValue can be given

Implements AbstractTrackSection.

bool isInside | ( | const Position & | p | ) | `[virtual]`

returns true if the real coordinates lay inside of the segment

Implements AbstractTrackSection.

void setCurveAngle | ( | double | alpha | ) |

void setProperties | ( |  | ) | `[protected]`

void setWidth | ( | double | w | ) | `[virtual]`

sets the width of the segment,

Implements AbstractTrackSection.

## Member Data Documentation

double angle`[protected]`

Color color`[protected]`

obstacle color

double heightWall`[protected]`

double isLeft`[protected]`

double length`[protected]`

bool obstacle_exists`[protected]`

dGeomID wallLeft`[protected]`

dGeomID wallRight`[protected]`

double width`[protected]`

double widthWall`[protected]`

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

- straightline.h
- straightline.cpp