UAvoidNoVis Class Reference

#include <uavoidnovis.h>

Public Member Functions
void	clear ()
bool	crossingNoVisLine (bool isCV, UPosition p1)
ULineSegment	getNoVisSegment (int idx)
ULineSegment	getNoVisSegment ()
void	setNoVisSegment (int firstNear, int lastNear, UAvoidObst *thisObst, UAvoidObst *otherObst)
void	setNoVisSegment (UPosition posX, UAvoidObst *thisObst, UAvoidObst *otherObst)
	UAvoidNoVis ()

Public Attributes
UAvoidObst *	aobOther
UPosition	aobPos
UAvoidObst *	aobThis

Detailed Description

Class with line segments that connects obstacles in a group, to avoid visibility between obstacles that are too close to pass between. These lines atre used in the visibility test for tangent lines.

Constructor & Destructor Documentation

UAvoidNoVis::UAvoidNoVis ( )

inline

Constructor

References clear().

Member Function Documentation

void UAvoidNoVis::clear ( void  )

inline

Clear the no-visibility data set

References aobOther, aobThis, crossingNoVisLine(), getNoVisSegment(), and setNoVisSegment().

Referenced by UAvoidObst::addToGroupIfWithinMargin2(), and UAvoidNoVis().

bool UAvoidNoVis::crossingNoVisLine	(	bool	isCV,
		UPosition	p1
	)

A tangent entering the obstacle from position 'p1' following the obstacle edges CV (or CCV) as indicated by 'isCV'. Is the path thorugh the (first) vertex crossing the no-visibility lines? Returns true if the line is crossed.

Referenced by clear().

ULineSegment UAvoidNoVis::getNoVisSegment

(

int

idx

)

Get no-visibility line segment.

Parameters

idx	if 0, then from 1cm from vertex on other obst to COG of this
idx	if 1, then from 1cm from vertex /towards this obst) to COG of other obstacle.

Returns

the specified line segment

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Copyright (C) 2010 by DTU (Christian Andersen) jca@o.nosp@m.erst.nosp@m.ed.dt.nosp@m.u.dk

• This program is free software; you can redistribute it and/or modify * it under the terms of the GNU Library General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. *
• This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. *
• You should have received a copy of the GNU Library General Public * License along with this program; if not, write to the * Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

References aobOther, aobPos, aobThis, UPolygon::getCogXY(), UAvoidObst::obst, ULineSegment::setFromPoints(), and UPosition::z.

Referenced by UAvoidPath2::addNoVisLinesAsObstacles(), UAvoidObst::crossingNonVisibilityLine(), UAvoidPath2::logObstacleGroups(), and UFunctionAvoid::sendCurrentAvoidPath().

ULineSegment UAvoidNoVis::getNoVisSegment

(

)

Get no-visibility line segment. From near vertex of other obstaclel (inside or on edge) to COG of this obsatcle.

Returns

the found line segment.

References aobOther, aobPos, aobThis, UPolygon::getClosestDistance(), UPolygon::getCogXY(), UPolygon::getPointsCnt(), ULine::getPositionOnLine(), UAvoidObst::obst, ULineSegment::setFromPoints(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by clear().

void UAvoidNoVis::setNoVisSegment	(	int	firstNear,
		int	lastNear,
		UAvoidObst *	thisObst,
		UAvoidObst *	otherObst
	)

Get number of non-visibility segment count. Add a set of vertices that is too close to another obstacle.

References a, aobOther, aobPos, aobThis, UPolygon::getDistance(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UAvoidObst::nogoEdge, UAvoidObst::obst, UPosition::x, and UPosition::y.

Referenced by UAvoidObst::addToGroupIfWithinMargin2(), and clear().

void UAvoidNoVis::setNoVisSegment	(	UPosition	posX,
		UAvoidObst *	thisObst,
		UAvoidObst *	otherObst
	)

References aobOther, aobPos, aobThis, UPolygon::getCogXY(), ULine::getPositionOnLine(), UAvoidObst::obst, and ULineSegment::setFromPoints().

Member Data Documentation

UAvoidObst* UAvoidNoVis::aobOther

The no-visibility is due to nearness to this other obstacle

Referenced by UAvoidPath2::addNoVisLinesAsObstacles(), clear(), getNoVisSegment(), UAvoidPath2::logObstacleGroups(), UAvoidObst::passingNoGoEdge2(), and setNoVisSegment().

UPosition UAvoidNoVis::aobPos

Number of points allowed in the near array. Vertex span too close to another obstacle to allow passage. First is the lowest index number and last the highest. If first is larger than last, then the index rolls over. if first and last is the same, then there is only one-

Referenced by getNoVisSegment(), and setNoVisSegment().

UAvoidObst* UAvoidNoVis::aobThis

This obstacle is the one where the index numbers relate to.

Referenced by UAvoidPath2::addNoVisLinesAsObstacles(), clear(), getNoVisSegment(), and setNoVisSegment().

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

• uavoidnovis.h
• uavoidnovis.cpp