The subclass of PhyObject2DWrapper wrapping a wheeled robot. More...

Inheritance diagram for WheeledRobot2DWrapper:

Public Member Functions
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.

double	getHeight () const
	Returns the height of the robot.

double	getRadius () const
	Returns the radius of the robot.

virtual PhyObject *	phyObject ()
	Returns a pointer to the wrapped PhyObject.

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

const wMatrix &	previousMatrix () const
	Returns the transformation matrix of the previous time-step.

RobotOnPlane *	robotOnPlane ()
	Returns a pointer to the wrapped object as a RobotOnPlane.

const RobotOnPlane *	robotOnPlane () const
	Returns a pointer to the wrapped object as a RobotOnPlane (const version)

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

void	storePreviousMatrix ()
	Stores the current matrix in the previousMatrix.

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

virtual WObject *	wObject ()
	Returns a pointer to the wrapped object.

virtual const WObject *	wObject () const
	Returns a pointer to the wrapped object (const version)

Public Member Functions inherited from PhyObject2DWrapper
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.

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.

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

Protected Member Functions
	WheeledRobot2DWrapper (Arena arena, RobotOnPlane robot, double height, double radius)
	Constructor.

	~WheeledRobot2DWrapper ()
	Destructor.

Protected Member Functions inherited from PhyObject2DWrapper
	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
Public Types inherited from PhyObject2DWrapper
enum	Type { Plane = 0, Wall, Box, RectangularTargetArea, Cylinder, SmallCylinder, BigCylinder, CircularTargetArea, WheeledRobot, NumberOfDifferentTypes }
	The possible type of wrapped objects. More...

Protected Attributes inherited from PhyObject2DWrapper
Arena *const	m_arena
	The pointer to the arena in which this object lives.

Detailed Description

The subclass of PhyObject2DWrapper wrapping a wheeled robot.

Definition at line 583 of file wheeledexperimenthelper.h.

Constructor & Destructor Documentation

WheeledRobot2DWrapper	(	Arena *	arena,
		RobotOnPlane *	robot,
		double	height,
		double	radius
	)

protected

Constructor.

Parameters

arena	the arena in which this object lives
robot	the robot to wrap
height	the height of the robot
radius	the radius of the robot

Definition at line 563 of file wheeledexperimenthelper.cpp.

~WheeledRobot2DWrapper ( )

protected

Destructor.

Definition at line 572 of file wheeledexperimenthelper.cpp.

Member Function Documentation

bool computeDistanceAndOrientationFromRobot	(	const WheeledRobot2DWrapper &	robot,
		double &	distance,
		double &	angle
	)		const

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 (e.g. if robot is the same as this)

Parameters

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 630 of file wheeledexperimenthelper.cpp.

References Arena::getPlane(), WheeledRobot2DWrapper::getRadius(), PhyObject2DWrapper::m_arena, PhyObject2DWrapper::position(), and WheeledRobot2DWrapper::wObject().

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

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 object (otherwise the algorithm gives wrong results). The matrix representing the camera is translated so that it is on the same plane as the object base 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 621 of file wheeledexperimenthelper.cpp.

References WObject::matrix(), wMatrix::w_pos, WheeledRobot2DWrapper::wObject(), and wVectorT< Shared >::z.

double getHeight ( ) const

inline

Returns the height of the robot.