A class wrapping a PhyObject to add methods suitable for wheeled robots simulations. More...

Inheritance diagram for PhyObject2DWrapper:

Public Types
enum	Type { Plane = 0, Wall, Box, RectangularTargetArea, Cylinder, SmallCylinder, BigCylinder, CircularTargetArea, NumberOfDifferentTypes }
	The possible type of wrapped objects. More...

Public Member Functions
QColor	color () const
	Returns the color to use when rendering this.

virtual void	computeLinearViewFieldOccupiedRange (const wMatrix &mtr, double &minAngle, double &maxAngle, double &distance) const =0
	Computes the portion of a linear the view field occupied by this object.

bool	getStatic () const
	Returns true if the object is static.

virtual PhyObject *	phyObject ()=0
	Returns a pointer to the wrapper PhyObject.

virtual const PhyObject *	phyObject () const =0
	Returns a pointer to the wrapper PhyObject (const version)

wVector	position () const
	Returns the position of the object.

void	setColor (QColor color)
	Sets the color to use when rendering this.

void	setPosition (wVector pos)
	Sets the position of the object in the plane.

virtual void	setPosition (real x, real y)=0
	Sets the position of the object in the plane.

virtual void	setStatic (bool s)
	Sets whether the object is static or not.

void	setTexture (QString textureName)
	Set the texture to use when rendering this.

void	setUseColorTextureOfOwner (bool b)
	Sets whether this will be rendered with the color and texture of our owner (if we have one)

QString	texture () const
	Returns the name of the texture.

virtual Type	type () const =0
	Returns the type of this wrapped object.

bool	useColorTextureOfOwner () const
	Returns whether this will be rendered with the color and texture of the owner (if we have one)

Protected Member Functions
	PhyObject2DWrapper ()
	Constructor.

virtual	~PhyObject2DWrapper ()
	Destructor.

Friends
class	Arena
	The Arena class is friend to be able to instantiate and delete this class.

Detailed Description

A class wrapping a PhyObject to add methods suitable for wheeled robots simulations.

This class wraps a PhyObject and adds methods which should be used when doing wheeled robots simulations to ensure everything works well. Objects cannot be instantiated directly, they are returned by functions of the Arena class

Definition at line 48 of file wheeledexperimenthelper.h.

Member Enumeration Documentation

enum Type

The possible type of wrapped objects.

Definition at line 54 of file wheeledexperimenthelper.h.

Constructor & Destructor Documentation

PhyObject2DWrapper ( )

protected

Constructor.

Definition at line 97 of file wheeledexperimenthelper.cpp.

~PhyObject2DWrapper ( )

protectedvirtual

Destructor.

Definition at line 102 of file wheeledexperimenthelper.cpp.

Member Function Documentation

QColor color ( ) const

Returns the color to use when rendering this.

Returns: the color to use when rendering this

Definition at line 142 of file wheeledexperimenthelper.cpp.

References PhyObject::color(), and PhyObject2DWrapper::phyObject().

virtual void computeLinearViewFieldOccupiedRange	(	const wMatrix &	mtr,
		double &	minAngle,
		double &	maxAngle,
		double &	distance
	)		const

pure virtual

Computes the portion of a linear the view field occupied by this object.

This function must be implemented in subclasses to return the angular range occupied by the object on a linear camera described by the given matrix. The Z axis of the matrix is the upvector, the camera lies on the XY plane and points towars the X axis (i.e. angles start from the X axis). If the object is not visible by the camera, this function returns a negative distance. The min angle can be greater than the max angle if the object is behind the camera.

Parameters

mtr	the matrix describing the camera (see function description)
minAngle	this is set to the minimum angle of the view field occupied by the object
maxAngle	this is set to the maximum angle of the view field occupied by the object
distance	this is set to the distance of the object from the camera. It is negative if the object is not visible by the camera

Implemented in Cylinder2DWrapper, and Box2DWrapper.

bool getStatic ( ) const

Returns true if the object is static.