The subclass of PhyObject2DWrapper wrapping a box. More...

Public Member Functions | |
const wVector & | centerOnPlane () const |
Returns the coordinates of the center of the box on the plane in the global frame of reference. | |
virtual bool | computeDistanceAndOrientationFromRobot (const WheeledRobot2DWrapper &robot, double &distance, double &angle) const |
Computes the distance and orientation of this object respect to the given robot. | |
virtual void | computeLinearViewFieldOccupiedRange (const wMatrix &cameraMtr, double &minAngle, double &maxAngle, double &distance) const |
Computes the portion of a linear the view field occupied by this object. | |
virtual PhyBox * | phyObject () |
Returns a pointer to the wrapped PhyObject. | |
virtual const PhyBox * | phyObject () const |
Returns a pointer to the wrapped PhyObject (const version) | |
virtual void | setPosition (real x, real y) |
Sets the position of the object in the plane. | |
virtual void | setStatic (bool s) |
Sets whether the object is static or not. | |
virtual Type | type () const |
Returns the type of this wrapper object. | |
const wVector & | vertex (int i) const |
Returns the coordinates of the i-th vertex of the box on the plane in the global frame of reference. | |
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QColor | color () const |
Returns the color to use when rendering this. | |
bool | getStatic () const |
Returns true if the object is static. | |
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. | |
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. | |
bool | useColorTextureOfOwner () const |
Returns whether this will be rendered with the color and texture of the owner (if we have one) | |
virtual WObject * | wObject () |
Returns a pointer to the wrapped object. | |
virtual const WObject * | wObject () const |
Returns a pointer to the wrapped object (const version) | |
Protected Member Functions | |
Box2DWrapper (Arena *arena, PhyBox *box, Type type) | |
Constructor. | |
~Box2DWrapper () | |
Destructor. | |
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PhyObject2DWrapper (Arena *arena) | |
Constructor. | |
virtual | ~PhyObject2DWrapper () |
Destructor. | |
Friends | |
class | Arena |
The Arena class is friend to be able to instantiate and delete this class. | |
Additional Inherited Members | |
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enum | Type { Plane = 0, Wall, Box, RectangularTargetArea, Cylinder, SmallCylinder, BigCylinder, CircularTargetArea, WheeledRobot, NumberOfDifferentTypes } |
The possible type of wrapped objects. More... | |
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Arena *const | m_arena |
The pointer to the arena in which this object lives. | |
Detailed Description
The subclass of PhyObject2DWrapper wrapping a box.
Definition at line 287 of file wheeledexperimenthelper.h.
Constructor & Destructor Documentation
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protected |
Constructor.
- Parameters
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arena the arena in which this object lives box the box to wrap type the type of box. This can only be one of Plane, Wall, Box, RectangularTargetArea. This can only be made non-static if the type is Box. This can only be moved if the type is Box or RectangularTargetArea
Definition at line 275 of file wheeledexperimenthelper.cpp.
References PhyBox::setStatic().
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protected |
Destructor.
Definition at line 287 of file wheeledexperimenthelper.cpp.
Member Function Documentation
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inline |
Returns the coordinates of the center of the box on the plane in the global frame of reference.
- Returns
- the coordinates of the center of the box on the plane in the global frame of reference
Definition at line 392 of file wheeledexperimenthelper.h.
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virtual |
Computes the distance and orientation of this object respect to the given robot.
This function computes the distance of this object from the given robot. The distance is computed between the nearest points of the two objects. The robot is always modelled as a vertical cylindrical object. The function returns false if it makes no sense to compute the distance
- Parameters
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robot the robot from which the distance should be computed distance the computed distance angle the computed orientation
- Returns
- false if the distance couldn't be computed
Implements PhyObject2DWrapper.
Definition at line 435 of file wheeledexperimenthelper.cpp.
References Arena::getPlane(), WheeledRobot2DWrapper::getRadius(), PhyObject2DWrapper::m_arena, PhyBox::matrix(), PhyObject2DWrapper::position(), PhyBox::sideX(), PhyBox::sideY(), wMatrix::transformVector(), wMatrix::untransformVector(), and WheeledRobot2DWrapper::wObject().
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virtual |
Computes the portion of a linear the view field occupied by this object.
This function returns the angular range occupied by this 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. Here we make the assumption that the camera is outside the box (otherwise the algorithm gives wrong results). The matrix representing the camera is translated so that it is on the same plane as the vertexes of the box before doing computations
- Parameters
-
cameraMtr 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
Implements PhyObject2DWrapper.
Definition at line 338 of file wheeledexperimenthelper.cpp.
References PhyBox::matrix(), wVectorT< Shared >::scale(), wMatrix::w_pos, wVectorT< Shared >::z, and wMatrix::z_ax.
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virtual |
Returns a pointer to the wrapped PhyObject.
You should avoid changing the PhyObject directly, use the methods of this class, instead
- Returns
- a pointer to the wrapped PhyObject
Implements PhyObject2DWrapper.
Definition at line 292 of file wheeledexperimenthelper.cpp.
Referenced by Arena::createRectangularTargetArea(), Arena::createWall(), MarXbot::orientation(), Epuck::orientation(), Khepera::orientation(), Box2DWrapper::setPosition(), and Box2DWrapper::setStatic().
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virtual |
Returns a pointer to the wrapped PhyObject (const version)
- Returns
- a const pointer to the wrapped PhyObject
Implements PhyObject2DWrapper.
Definition at line 297 of file wheeledexperimenthelper.cpp.
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virtual |
Sets the position of the object in the plane.
Whether this can be moved or not depends on the type of box
- Parameters
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x the new x coordinate y the new y coordinate
Implements PhyObject2DWrapper.
Definition at line 317 of file wheeledexperimenthelper.cpp.
References PhyBox::matrix(), Box2DWrapper::phyObject(), wVectorT< Shared >::scale(), PhyBox::setPosition(), PhyBox::sideZ(), wMatrix::w_pos, wVectorT< Shared >::x, and wMatrix::z_ax.
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virtual |
Sets whether the object is static or not.
Whether this can be made static or not depends on the type of box
- Parameters
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s if true the object will be static
Reimplemented from PhyObject2DWrapper.
Definition at line 307 of file wheeledexperimenthelper.cpp.
References Box2DWrapper::phyObject(), and PhyBox::setStatic().
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virtual |
Returns the type of this wrapper object.
- Returns
- the type of this wrapper object
Implements PhyObject2DWrapper.
Definition at line 302 of file wheeledexperimenthelper.cpp.
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inline |
Returns the coordinates of the i-th vertex of the box on the plane in the global frame of reference.
- Parameters
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i the index of the vertex, between 0 and 3
- Returns
- the coordinates of the i-th vertex of the box on the plane in the global frame of reference.
Definition at line 380 of file wheeledexperimenthelper.h.
Friends And Related Function Documentation
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friend |
The Arena class is friend to be able to instantiate and delete this class.
Definition at line 449 of file wheeledexperimenthelper.h.
The documentation for this class was generated from the following files:
- experiments/include/wheeledexperimenthelper.h
- experiments/src/wheeledexperimenthelper.cpp