#include <u2dline.h>

Inheritance diagram for U2Dseg:

Public Member Functions
virtual void	clear ()

const char *	codeXml (const char name, char buff, const int buffCnt, const char *extraAtt)

int	getCircleCrossings (double cx, double cy, double r, double t1, double t2)

virtual const char *	getDataType ()

double	getDistanceSigned (double px, double py, int *where)

U2Dpos	getFirstEnd ()

double	getHeading ()

U2Dpos	getOtherEnd ()

U2Dpos	getPositionOnLine (const double t)

double	getPositionOnLine (U2Dpos *point)

double	getPositionOnLine (U2Dpos point)

double	getPositionOnLine (double px, double py)

double	heading ()

bool	isCrossing (U2Dseg other, U2Dpos crossing)

const char *	print (const char prestring, char buff, const int buffCnt)

int	set2P (const double x1, const double y1, const double x2, const double y2)

void	setFromPoints (const UPosition pos1, const UPosition pos2)

void	setFromPoints (UPosition pos1, UPosition pos2)

void	setFromPoints (U2Dpos pos1, U2Dpos pos2)

void	setFromPoints (double x1, double y1, double x2, double y2)

void	setFromPose (double x1, double y1, double h1, double len=1.0)

virtual void	shiftLeft (double dist)

virtual void	shiftRight (double dist)

	U2Dseg ()

virtual	~U2Dseg ()

Public Member Functions inherited from U2Dlined
double	A ()

double	B ()

double	C ()

double	distanceSigned (const double x, const double y)

bool	fit (double fx[], double fy[], int count, double *V=NULL)

bool	fitV (double fx[], double fy[], int count, double *V)

void	getARLine (double a, double r)

bool	getCrossing (U2Dlined L2, double x, double y)

void	getOnLine (const double x, const double y, double lx, double ly)

void	getPV (double Px, double Py, double Vx, double Vy)

double	heading ()

void	print (const char *prestring)

int	set (const double A, const double B, const double C)

int	set (double fx[], double fy[], int count, double *V=NULL)

int	set2P (const double x1, const double y1, const double x2, const double y2)

void	setAR (const double a, const double r)

int	setPH (const double Px, const double Py, const double h)

int	setPV (const double Px, const double Py, const double Vx, const double Vy)

bool	setXline (double sX, double sY, double sX2, double sXY, int count)

bool	setYline (double sX, double sY, double sY2, double sXY, int count)

	U2Dlined ()

	U2Dlined (const double A, const double B, const double C)

	U2Dlined (const double a, const double r)

	U2Dlined (const double x1, const double y1, const double x2, const double y2)

double	variance (double fx[], double fy[], int count, double *E=NULL)

double	vx ()

double	vy ()

virtual	~U2Dlined ()

Public Member Functions inherited from U2Dpos
UMatrix4	asCol2 ()

UMatrix4	asCol3 ()

UMatrix4	asRow2 ()

UMatrix4	asRow3 ()

void	clear ()

double	dist ()

double	dist (UPosition b)

double	dist (U2Dpos b)

double	heading ()

double	length ()

U2Dpos	operator= (UPosition pos)

U2Dpos	operator= (U2Dseg seg)

void	set (double ix, double iy)

	U2Dpos (double ix, double iy)

	U2Dpos ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Public Attributes
double	length

Public Attributes inherited from U2Dpos
double	x

double	y

Additional Inherited Members
Protected Attributes inherited from U2Dlined
double	lA

double	lB

double	lC

Detailed Description

This is a 2D line with parameters in double precition

Constructor & Destructor Documentation

U2Dseg::U2Dseg ( )

inline

Constructor

virtual U2Dseg::~U2Dseg ( )

inlinevirtual

destructor

Member Function Documentation

void U2Dseg::clear ( void )

virtual

Clear

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

Referenced by UResLocater::makeRowPolygon().

const char * U2Dseg::codeXml	(	const char *	name,
		char *	buff,
		const int	buffCnt,
		const char *	extraAtt
	)

Code this line as an XML tag into this string buffer. like <line name="" x="" y="" th="" length="" [extraAtt]/>

Parameters

name	is an optional value to a name attribute .
buff	is the buffer to write into.
buffCnt	is the length of the buffer.
extraAtt	is an optional string with extra attributes to put into the tag.

Returns: a pointer to the buffer.

References U2Dline::heading().

Referenced by UResLobst::codeLines().

int U2Dseg::getCircleCrossings	(	double	cx,
		double	cy,
		double	r,
		double *	t1,
		double *	t2
	)

Get crossings with a circle

Parameters

cx,cy	is the center of the circle
r	is the circle radius
t1,t2	is the distances from the line origin to the crossings, if no crossings, then these values are unchanged.

Returns: number of crossings, and can be either 0 or 2

References U2Dline::lA, U2Dline::lB, and sqr().

Referenced by UAvoidPath2::createMidPathPoints(), and test2Dseg().

virtual const char* U2Dseg::getDataType ( )

inlinevirtual

Get (end) type string for this structure

Reimplemented from UDataBase.

double U2Dseg::getDistanceSigned	(	double	px,
		double	py,
		int *	where
	)

Get distance from a 3D point to a line segemnt, i.e. distance to the closest end or if closer to a point on the line segment, then this distance. the distance is squared. The optional second parameter returns the closest point (if != NULL) where = 0 if on line segment, 1 if closest to 'pos', and 2 if closest to 'other end'

References dist, U2Dline::distanceSigned(), signofd(), U2Dpos::x, and U2Dpos::y.

Referenced by UAvoidPath2::getClosestObst2(), UResMapObst::getNearObstacles(), UPolygon::isInsideConvex(), UResLobst::makeObst(), and UResLocater::match_points().

U2Dpos U2Dseg::getFirstEnd ( )

inline

Get position of first end of line segment as a 2D position

Referenced by UAvoidCellGraph::findCellPointPath(), UAvoidPath2::getClosestObst2(), UFuncRoseBot::handleCommand(), UFuncLoca2::markBestJointMatches(), ULineMatch::print(), and UAvoidPoint::tPointVisible().

double U2Dseg::getHeading ( )

inline

Get heading along line

References dist, U2Dline::lA, and U2Dline::lB.

Referenced by UResRoseBot::findRows(), UResMapObst::getNearObstacles(), UFuncRoseBot::handleCommand(), and UFuncLobst::testMethodCall().

U2Dpos U2Dseg::getOtherEnd ( )

inline

Get position of other end of line segment

Referenced by ULineMatch::addToPoly(), UFuncLoca2::correlateLines(), UAvoidCellGraph::findCellPointPath(), UResRoseBot::findRows(), UAvoidPath2::getClosestObst2(), UResMapObst::getNearObstacles(), UFuncRoseBot::handleCommand(), isCrossing(), UFuncLoca2::markBestJointMatches(), ULineMatch::print(), UFuncLobst::testMethodCall(), and UAvoidPoint::tPointVisible().

U2Dpos U2Dseg::getPositionOnLine ( const double t )

Get position on line this many meters from start position in direction of vector [A,B];

Returns: a positiuon on the line (but not neccesary on segment)

References U2Dline::lA, U2Dline::lB, U2Dpos::x, and U2Dpos::y.

Referenced by UAvoidPath2::createMidPathPoints(), UAvoidPath2::expandPolyToSegment(), UResRoseBot::findRows(), UPose2pose::get2line(), UPose2pose::get2lineStartLeft(), UAvoidPath2::getClosestObst2(), UFuncRoseBot::handleCommand(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::isAfterDestination(), UResLocater::makeRowPolygon(), test2Dseg(), and UAvoidPoint::tPointVisible().

double U2Dseg::getPositionOnLine ( U2Dpos * point )

Get position parameter on the line that is closest to this point

Parameters

point the point anywhere in space.

Returns: a parameter on the line as a parameter. this is the distance from the closest point oin the line to the line start, signed in the direction of the segment.

References U2Dline::lA, U2Dline::lB, U2Dpos::x, and U2Dpos::y.

double U2Dseg::getPositionOnLine ( U2Dpos point )

Get position parameter on the line that is closest to this point

Parameters

point the point anywhere in space.

Returns: a parameter on the line as a parameter. this is the distance from the closest point oin the line to the line start, signed in the direction of the segment.

References U2Dline::lA, U2Dline::lB, U2Dpos::x, and U2Dpos::y.

double U2Dseg::getPositionOnLine	(	double	px,
		double	py
	)

Get position parameter on the line that is closest to this point

Parameters

px,py the point anywhere in space.

Returns: a parameter on the line as a parameter. this is the distance from the closest point oin the line to the line start, signed in the direction of the segment.

References U2Dline::lA, and U2Dline::lB.

double U2Dseg::heading ( )

inline

get heading of the line segment

References U2Dlined::heading().

bool U2Dseg::isCrossing	(	U2Dseg *	other,
		U2Dpos *	crossing
	)

Is this line segment crossing the other segment, true if crossing (within ends), and The crossing is returned in 'crossing' If no crossing is found, 'crossing' may be changed.

References U2Dline::getCrossing(), getOtherEnd(), U2Dpos::x, and U2Dpos::y.

const char * U2Dseg::print	(	const char *	prestring,
		char *	buff,
		const int	buffCnt
	)

Same as abowe

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

Referenced by test2Dseg().

int U2Dseg::set2P	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2
	)

inline

Set from two points. returns -1 if too close.

void U2Dseg::setFromPoints	(	const UPosition *	pos1,
		const UPosition *	pos2
	)

inline

Set line from two points. Reference position is set from pos1, and other end is set to pos2 so that "pos1 + vec * length" ends at pos2.

References UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::avoidToTheLeft(), UResLobst::codeLines(), UAvoidPath2::convertToManSeq(), UAvoidCellGraph::findCellPointPath(), UAvoidPath2::getClosestObst2(), UResMapObst::getNearObstacles(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::isAfterDestination(), UPolygon::isInsideConvex(), UResLobst::makeObst(), UResLocater::match_points(), UResLobst::methodCallV(), test2Dseg(), UAvoidPoint::tPointVisible(), and UAvoidPath2::turnCentreCrossing().

void U2Dseg::setFromPoints	(	UPosition	pos1,
		UPosition	pos2
	)

inline

Set line from two points. Reference position is set from pos1, and other end is set to pos2 so that "pos1 + vec * length" ends at pos2.

References UPosition::x, and UPosition::y.

void U2Dseg::setFromPoints	(	U2Dpos	pos1,
		U2Dpos	pos2
	)

inline

Set line from two points. Reference position is set from pos1, and other end is set to pos2 so that "pos1 + vec * length" ends at pos2.

References U2Dline::print(), U2Dpos::x, and U2Dpos::y.

void U2Dseg::setFromPoints	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Set line segment from points. a line segment is a start point, a direction vector and a length.

Parameters

x1,y1,z1	defines the first (start) point
x2,y2,z2	defines the end point

void U2Dseg::setFromPose	(	double	x1,
		double	y1,
		double	h1,
		double	len = `1.0`
	)

Set 2D line segment from a pose (x1, y1, h1) with an optional length.

Parameters

x,y,h	is the pose
len	is the optiomal length (default is 1).

Referenced by UAvoidPath2::createMidPathPoints(), UAvoidCellGraph::findCellPointPath(), UPose2pose::get2line(), UPose2pose::get2lineStartLeft(), and test2Dseg().

void U2Dseg::shiftLeft ( double dist )

virtual

Shift the line this distance to the left This moves the C parameter and the start position.

Parameters

dist	is the distance shifted.

Reimplemented from U2Dlined.

References U2Dline::lA, U2Dline::lB, and U2Dlined::shiftLeft().

void U2Dseg::shiftRight ( double dist )

virtual

Shift the line this distance to the right This moves the C parameter and the start position.

Parameters

dist	is the distance shifted.

Reimplemented from U2Dlined.

References U2Dline::lA, U2Dline::lB, and U2Dlined::shiftRight().

Member Data Documentation

double U2Dseg::length

Length of line segment

Referenced by UAvoidPath2::expandPolyToSegment(), UResRoseBot::findRows(), UAvoidPath2::getClosestObst2(), UFuncRoseBot::handleCommand(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::isAfterDestination(), UResLocater::makeRowPolygon(), UFuncLoca2::markBestJointMatches(), UFuncLobst::testMethodCall(), and UAvoidPoint::tPointVisible().

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation