GT2005Polygon Class Reference

#include <GT2005Polygon.h>

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[legend]List of all members.

Public Types
enum	{ maxPoints = 128 }
Public Member Functions
	GT2005Polygon (int nPoints=0, int sLength=0)
	~GT2005Polygon ()
Vector3< double >	getPointCoord (int pNum)
void	setPointCoord (int pNum, Vector3< double > p)
void	getSegment (int sNum, double &sLen, Vector3< double > &p)
void	setSegment (int sNum, double sLen, Vector3< double > p)
double	getSegmentLength (int sNum)
Vector3< double >	getPositionOnShape (double pos)
void	insertPoint (int pNum)
GT2005Polygon *	interpolateShape (double amount, GT2005Polygon *s2)
void	interpolateShapeP (double amount, GT2005Polygon *s2)
int	getMaxX ()
int	getMinX ()
double	approxGroundTime ()
Vector3< double >	calculateCenterOfMass ()
void	finalize ()
GT2005Polygon	scaleX (double s)
GT2005Polygon	scaleY (double s)
GT2005Polygon	rotateX (double a)
GT2005Polygon	rotateY (double a)
GT2005Polygon	rotateZ (double a)
void	rotateXP (double a)
void	rotateYP (double a)
void	rotateZP (double a)
GT2005Polygon	rotateZC (double a)
bool	load (char *filename)
void	save (char *filename)
GT2005Polygon *	copy ()
GT2005Polygon *	mirrorY ()
Public Attributes
int	stepLength
pSegment	pPoints [maxPoints]
int	numPoints
double	polyLengthX
double	groundTime
Vector3< double >	centerOfMassCorrection
double	rollAngle

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Member Enumeration Documentation

anonymous enum

Enumeration values: maxPoints  Definition at line 32 of file GT2005Polygon.h.

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Constructor & Destructor Documentation

GT2005Polygon::GT2005Polygon (  int  nPoints = 0, int  sLength = 0 )

Definition at line 11 of file GT2005Polygon.cpp. References numPoints, and rollAngle. Referenced by copy(), interpolateShape(), and mirrorY().

GT2005Polygon::~GT2005Polygon (   )

Definition at line 21 of file GT2005Polygon.cpp.

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Member Function Documentation

Vector3< double > GT2005Polygon::getPointCoord (  int  pNum  )

Definition at line 26 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, and pPoints. Referenced by getSegment(), interpolateShape(), interpolateShapeP(), and GTWalkParametersIndividual::mutate().

void GT2005Polygon::setPointCoord (  int  pNum, Vector3< double >  p )

Definition at line 37 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, and pPoints. Referenced by setSegment().

void GT2005Polygon::getSegment (  int  sNum, double &  sLen, Vector3< double > &  p )

Definition at line 54 of file GT2005Polygon.cpp. References getPointCoord(), numPoints, pPoints, and GT2005Polygon::pSegment::sLen.

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void GT2005Polygon::setSegment (  int  sNum, double  sLen, Vector3< double >  p )

Definition at line 45 of file GT2005Polygon.cpp. References numPoints, pPoints, setPointCoord(), and GT2005Polygon::pSegment::sLen. Referenced by copy(), interpolateShape(), interpolateShapeP(), mirrorY(), GTWalkParametersIndividual::mutate(), rotateX(), rotateXP(), rotateY(), rotateYP(), rotateZ(), rotateZC(), rotateZP(), scaleX(), scaleY(), GT2005Parameters::setBasicPolygons(), and GT2005WalkingEngine::streamDebugData().

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double GT2005Polygon::getSegmentLength (  int  sNum  )

Definition at line 63 of file GT2005Polygon.cpp. References numPoints, pPoints, and GT2005Polygon::pSegment::sLen. Referenced by interpolateShape(), interpolateShapeP(), and GTWalkParametersIndividual::mutate().

Vector3< double > GT2005Polygon::getPositionOnShape (  double  pos  )

Definition at line 72 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, and GT2005Polygon::pSegment::sLen.

void GT2005Polygon::insertPoint (  int  pNum  )

Definition at line 427 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, and GT2005Polygon::pSegment::sLen.

GT2005Polygon * GT2005Polygon::interpolateShape (  double  amount, GT2005Polygon *  s2 )

Definition at line 446 of file GT2005Polygon.cpp. References getPointCoord(), getSegmentLength(), GT2005Polygon(), numPoints, GT2005Polygon::pSegment::point, pPoints, setSegment(), and stepLength. Referenced by GT2005Parameters::calculateCurrentPoly(), and GTWalkParametersIndividual::crossingOverOf().

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void GT2005Polygon::interpolateShapeP (  double  amount, GT2005Polygon *  s2 )

Definition at line 466 of file GT2005Polygon.cpp. References getPointCoord(), getSegmentLength(), numPoints, GT2005Polygon::pSegment::point, pPoints, setSegment(), and stepLength. Referenced by GTWalkParametersIndividual::crossOver().

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int GT2005Polygon::getMaxX (   )

Definition at line 98 of file GT2005Polygon.cpp. References max, numPoints, GT2005Polygon::pSegment::point, pPoints, and Vector3< double >::x. Referenced by approxGroundTime(), and finalize().

int GT2005Polygon::getMinX (   )

Definition at line 122 of file GT2005Polygon.cpp. References min, numPoints, GT2005Polygon::pSegment::point, pPoints, and Vector3< double >::x. Referenced by approxGroundTime(), and finalize().

double GT2005Polygon::approxGroundTime (   )

Definition at line 141 of file GT2005Polygon.cpp. References getMaxX(), getMinX(), numPoints, GT2005Polygon::pSegment::point, pPoints, GT2005Polygon::pSegment::sLen, and Vector3< double >::z. Referenced by finalize().

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Vector3< double > GT2005Polygon::calculateCenterOfMass (   )

Definition at line 186 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, Vector3< V >::x, Vector3< double >::x, Vector3< V >::y, Vector3< double >::y, Vector3< V >::z, and Vector3< double >::z. Referenced by rotateZC().

void GT2005Polygon::finalize (   )

Definition at line 209 of file GT2005Polygon.cpp. References approxGroundTime(), getMaxX(), getMinX(), numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, GT2005Polygon::pSegment::sLen, and Vector3< double >::x. Referenced by GT2005Parameters::calculateCurrentPoly(), copy(), mirrorY(), operator>>(), GT2005Parameters::setBasicPolygons(), and GT2005Parameters::setOptimizedPolys().

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GT2005Polygon GT2005Polygon::scaleX (  double  s  )

Definition at line 233 of file GT2005Polygon.cpp. References groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< double >::z, and Vector3< V >::z.

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GT2005Polygon GT2005Polygon::scaleY (  double  s  )

Definition at line 256 of file GT2005Polygon.cpp. References groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< double >::z, and Vector3< V >::z.

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GT2005Polygon GT2005Polygon::rotateX (  double  a  )

Definition at line 279 of file GT2005Polygon.cpp. References groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< V >::z, and Vector3< double >::z.

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GT2005Polygon GT2005Polygon::rotateY (  double  a  )

Definition at line 303 of file GT2005Polygon.cpp. References groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< V >::z, and Vector3< double >::z.

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GT2005Polygon GT2005Polygon::rotateZ (  double  a  )

Definition at line 327 of file GT2005Polygon.cpp. References groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< double >::x, Vector3< V >::x, Vector3< V >::y, Vector3< double >::y, Vector3< double >::z, and Vector3< V >::z.

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void GT2005Polygon::rotateXP (  double  a  )

Definition at line 351 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, setSegment(), Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< V >::z, and Vector3< double >::z.

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void GT2005Polygon::rotateYP (  double  a  )

Definition at line 366 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, setSegment(), Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< V >::z, and Vector3< double >::z.

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void GT2005Polygon::rotateZP (  double  a  )

Definition at line 381 of file GT2005Polygon.cpp. References numPoints, GT2005Polygon::pSegment::point, pPoints, setSegment(), Vector3< double >::x, Vector3< V >::x, Vector3< V >::y, Vector3< double >::y, Vector3< double >::z, and Vector3< V >::z.

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GT2005Polygon GT2005Polygon::rotateZC (  double  a  )

Definition at line 396 of file GT2005Polygon.cpp. References calculateCenterOfMass(), centerOfMassCorrection, groundTime, numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), stepLength, Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.

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bool GT2005Polygon::load (  char *  filename  )

Definition at line 526 of file GT2005Polygon.cpp. References InFile::exists().

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void GT2005Polygon::save (  char *  filename  )

Definition at line 542 of file GT2005Polygon.cpp.

GT2005Polygon * GT2005Polygon::copy (   )

Definition at line 482 of file GT2005Polygon.cpp. References finalize(), groundTime, GT2005Polygon(), numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< double >::z, and Vector3< V >::z. Referenced by GT2005Parameters::calculateCurrentPoly(), GT2005WalkingEngine::executeParameterized(), GTWalkParametersIndividual::operator=(), and GT2005Parameters::setBasicPolygons().

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GT2005Polygon * GT2005Polygon::mirrorY (   )

Definition at line 504 of file GT2005Polygon.cpp. References finalize(), groundTime, GT2005Polygon(), numPoints, GT2005Polygon::pSegment::point, polyLengthX, pPoints, setSegment(), Vector3< double >::x, Vector3< V >::x, Vector3< double >::y, Vector3< V >::y, Vector3< double >::z, and Vector3< V >::z.

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Member Data Documentation

int GT2005Polygon::stepLength

Definition at line 29 of file GT2005Polygon.h. Referenced by GT2005WalkingEngine::executeParameterized(), interpolateShape(), interpolateShapeP(), GTWalkParametersIndividual::mutate(), operator<<(), operator>>(), rotateX(), rotateY(), rotateZ(), rotateZC(), scaleX(), scaleY(), GT2005Parameters::setBasicPolygons(), and GT2005Parameters::setOptimizedPolys().

pSegment GT2005Polygon::pPoints[maxPoints]

Definition at line 38 of file GT2005Polygon.h. Referenced by approxGroundTime(), calculateCenterOfMass(), copy(), finalize(), getMaxX(), getMinX(), getPointCoord(), getPositionOnShape(), getSegment(), getSegmentLength(), insertPoint(), interpolateShape(), interpolateShapeP(), mirrorY(), operator<<(), operator>>(), rotateX(), rotateXP(), rotateY(), rotateYP(), rotateZ(), rotateZC(), rotateZP(), scaleX(), scaleY(), GT2005Parameters::setOptimizedPolys(), setPointCoord(), and setSegment().

int GT2005Polygon::numPoints

Definition at line 41 of file GT2005Polygon.h. Referenced by approxGroundTime(), calculateCenterOfMass(), GTWalkParametersIndividual::calculateTauTau0(), copy(), finalize(), getMaxX(), getMinX(), getPointCoord(), getPositionOnShape(), getSegment(), getSegmentLength(), GT2005Polygon(), insertPoint(), interpolateShape(), interpolateShapeP(), mirrorY(), GTWalkParametersIndividual::mutate(), operator<<(), operator>>(), rotateX(), rotateXP(), rotateY(), rotateYP(), rotateZ(), rotateZC(), rotateZP(), scaleX(), scaleY(), GT2005Parameters::setOptimizedPolys(), setPointCoord(), setSegment(), and GT2005WalkingEngine::streamDebugData().

double GT2005Polygon::polyLengthX

Definition at line 44 of file GT2005Polygon.h. Referenced by GT2005WalkingEngine::calculateData(), copy(), finalize(), mirrorY(), rotateX(), rotateY(), rotateZ(), rotateZC(), scaleX(), and scaleY().

double GT2005Polygon::groundTime

Definition at line 45 of file GT2005Polygon.h. Referenced by copy(), mirrorY(), rotateX(), rotateY(), rotateZ(), rotateZC(), scaleX(), and scaleY().

Vector3<double> GT2005Polygon::centerOfMassCorrection

Definition at line 46 of file GT2005Polygon.h. Referenced by rotateZC().

double GT2005Polygon::rollAngle

Definition at line 48 of file GT2005Polygon.h. Referenced by GT2005Polygon(), operator<<(), operator>>(), and GT2005Parameters::setOptimizedPolys().

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

• Modules/WalkingEngine/GT2005Polygon.h
• Modules/WalkingEngine/GT2005Polygon.cpp

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