PotentialFieldsObject Class Reference

A class representing an object in a potential field. More...

#include <FieldObject.h>

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Public Member Functions
	PotentialFieldsObject ()
	Constructor.
	PotentialFieldsObject (const std::string &name, ObjectType objectType)
	Constructor.
virtual	~PotentialFieldsObject ()
	Destructor.
virtual double	computeChargeAt (const PfPose &otherPose)
	Computes the impact of an object at a given pose.
virtual PfVec	computeAbsFieldVecAt (const PfPose &otherPose)
	Computes the gradient of an object at a given pose.
PotentialFieldsObject *	createInstance (const std::string &instanceName)
	Creates a copy of this object and changes the name of the copied object.
void	operator= (const PotentialFieldsObject &other)
	Copy operator.
virtual PotentialFieldsObject *	getCopy ()
	Polymorph copy function.
void	getMinimalCopyFrom (PotentialFieldsObject *other)
	Get new data from other object.
std::string	getName () const
	Returns the name of the object.
PfPose	getPose () const
	Returns the pose of the object.
virtual PfPose	getPose (const PfPose &robotPose)
	Returns the pose of the object in reference to the robot pose (used for getting a pose from formation objects).
void	setPose (const PfPose &pose)
	Sets the pose of the object and updates the absolute geometry.
void	setActivation (const bool &active)
	Sets the state of the object.
virtual bool	isActive () const
	Returns whether the object is active or not.
ObjectType	getType () const
	Returns the type of the object.
void	setStatic (const bool &isStatic, unsigned int dynamicPoseId=0)
	Sets the static/dynamic state of the object.
virtual bool	isStatic () const
	Return whether the object is static or not.
void	setFunction (PotentialfieldFunction *function)
	Sets the function of the object.
void	setField (FieldType type)
	Sets the field type of the object.
void	setField (FieldType type, const Sector &sector)
	Sets the field type of the object.
void	setTangentialField (TangentialField tangentialField)
	Sets the type of the tangential field.
void	setGeometry (PfieldGeometricObject *geometry)
	Sets the geometry of the object.
virtual PfieldGeometricObject *	getGeometry () const
	Returns a pointer to the geometry of the object.
virtual PfieldGeometricObject *	getAbsGeometry () const
	Returns a pointer to the absolute geometry of the object.
void	setPfieldCompositionRef (PotentialfieldComposition *ref)
	Sets the reference to the PotentialfieldComposition.
virtual void	updateData ()
	Gets new data (pose/activation), if dynamic.
void	computeAbsGeometry ()
	Computes the absolute geometry.
Protected Member Functions
double	computeChargeForSinglePose (const PfPose &objectPose, const PfPose &position) const
	Computes the charge at a pose.
PfVec	computeGradientVecForSinglePose (const PfPose &objectPose, const PfPose &position) const
	Computes the gradient at a pose.
Protected Attributes
PfPose	pose
	The pose of the object.
std::string	name
	The name of the object.
bool	active
	Flag, determines if object is active.
bool	isStaticVar
	Flag, determines if object is static/dynamic.
TangentialField	tangentialField
	Flag, determines, if the field has a tangential direction.
FieldType	fieldType
	The type of the potential field.
PotentialfieldFunction *	function
	The function of this object.
ObjectType	objectType
	The type of the object (attractive/repulsive).
PfieldGeometricObject *	geometry
	The description of the object's geometry.
PfieldGeometricObject *	absGeometry
	The description of the object's geometry in absolute coordinates.
Sector	sector
	The sector of the potential field (if fieldType==SECTOR_FIELD).
PotentialfieldComposition *	refToPfieldComposition
	A pointer to the PotentialfieldComposition.
unsigned int	dynamicPoseId
	The id of the dynamic pose (if used).

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Detailed Description

A class representing an object in a potential field.

Definition at line 29 of file FieldObject.h.

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Constructor & Destructor Documentation

PotentialFieldsObject::PotentialFieldsObject (   )

Constructor. Definition at line 12 of file FieldObject.cpp. References absGeometry, function, geometry, NO_TANGENTIALFIELD, refToPfieldComposition, and tangentialField. Referenced by createInstance(), and getCopy().

PotentialFieldsObject::PotentialFieldsObject (  const std::string &  name, ObjectType  objectType )

Constructor. Parameters: name  The name of the object objectType  The type of the object Definition at line 22 of file FieldObject.cpp. References absGeometry, function, geometry, NO_TANGENTIALFIELD, refToPfieldComposition, and tangentialField.

PotentialFieldsObject::~PotentialFieldsObject (   )  [virtual]

Destructor. Definition at line 35 of file FieldObject.cpp. References absGeometry, function, and geometry.

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Member Function Documentation

double PotentialFieldsObject::computeChargeAt (  const PfPose &  otherPose  )  [virtual]

Computes the impact of an object at a given pose. Parameters: otherPose  The pose Returns: The charge (= f(otherPose)) Reimplemented in FormationObject. Definition at line 143 of file FieldObject.cpp. References computeChargeForSinglePose(), PfPose::hasProbabilityDistribution, PfPose::probability, and PfPose::probabilityDistribution. Referenced by SingleFormation::getCharge(), and PotentialfieldAStarNode::setValueAtPos().

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PfVec PotentialFieldsObject::computeAbsFieldVecAt (  const PfPose &  otherPose  )  [virtual]

Computes the gradient of an object at a given pose. Parameters: otherPose  The pose Returns: The gradient (= f'(otherPose)) Reimplemented in FormationObject. Definition at line 192 of file FieldObject.cpp. References CLOCKWISE, computeGradientVecForSinglePose(), COUNTER_CLOCKWISE, PfPose::hasProbabilityDistribution, objectType, pi_2, PfPose::probability, PfPose::probabilityDistribution, REPULSIVE, PfVec::rotate(), and tangentialField. Referenced by SingleFormation::getVec().

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PotentialFieldsObject * PotentialFieldsObject::createInstance (  const std::string &  instanceName  )

Creates a copy of this object and changes the name of the copied object. Parameters: instanceName  The name of the copy Returns: The copy Definition at line 52 of file FieldObject.cpp. References name, and PotentialFieldsObject().

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void PotentialFieldsObject::operator= (  const PotentialFieldsObject &  other  )

Copy operator. Parameters: other  The object to copy Definition at line 61 of file FieldObject.cpp. References absGeometry, active, dynamicPoseId, fieldType, function, geometry, isStaticVar, name, objectType, pose, refToPfieldComposition, sector, SECTOR_FIELD, setActivation(), setField(), setFunction(), setGeometry(), setPfieldCompositionRef(), setPose(), setStatic(), setTangentialField(), and tangentialField.

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PotentialFieldsObject * PotentialFieldsObject::getCopy (   )  [virtual]

Polymorph copy function. Returns: A copy of the object Reimplemented in FormationObject. Definition at line 96 of file FieldObject.cpp. References PotentialFieldsObject().

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void PotentialFieldsObject::getMinimalCopyFrom (  PotentialFieldsObject *  other  )

Get new data from other object. It is assumed that a full copy had been done before. Only changing data (e.g. the pose) is copied. Parameters: other  The object to get the data from Definition at line 104 of file FieldObject.cpp. References getPose(), isActive(), setActivation(), and setPose().

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std::string PotentialFieldsObject::getName (   )  const [inline]

Returns the name of the object. Returns: The name Definition at line 81 of file FieldObject.h. Referenced by PotentialfieldComposition::addObject(), and Parser::parseAndInsertObject().

PfPose PotentialFieldsObject::getPose (   )  const [inline]

Returns the pose of the object. Returns: The pose Definition at line 87 of file FieldObject.h. Referenced by FutureWorldModelGenerator::executeSingleTransformation(), and getMinimalCopyFrom().

virtual PfPose PotentialFieldsObject::getPose (  const PfPose &  robotPose  )  [inline, virtual]

Returns the pose of the object in reference to the robot pose (used for getting a pose from formation objects). Parameters: robotPose  The robot pose Returns: The object pose Reimplemented in FormationObject. Definition at line 95 of file FieldObject.h.

void PotentialFieldsObject::setPose (  const PfPose &  pose  )

Sets the pose of the object and updates the absolute geometry. Parameters: pose  The new pose Definition at line 133 of file FieldObject.cpp. References absGeometry, geometry, and PfieldGeometricObject::setAbsoluteFromOther(). Referenced by Motionfield::getFieldVecFromAStarSearch(), getMinimalCopyFrom(), operator=(), Parser::parseInstance(), and updateData().

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void PotentialFieldsObject::setActivation (  const bool &  active  )  [inline]

Sets the state of the object. Parameters: active  Flag which determines whether the object is active or not Definition at line 106 of file FieldObject.h. Referenced by getMinimalCopyFrom(), operator=(), and Parser::parseInstance().

virtual bool PotentialFieldsObject::isActive (   )  const [inline, virtual]

Returns whether the object is active or not. Returns: true, if active Reimplemented in FormationObject. Definition at line 112 of file FieldObject.h. Referenced by getMinimalCopyFrom().

ObjectType PotentialFieldsObject::getType (   )  const [inline]

Returns the type of the object. Returns: The type Definition at line 118 of file FieldObject.h. References ObjectType.

void PotentialFieldsObject::setStatic (  const bool &  isStatic, unsigned int  dynamicPoseId = 0 )  [inline]

Sets the static/dynamic state of the object. Parameters: isStatic  Flag dynamicPoseId  The id of the static pose Definition at line 125 of file FieldObject.h. References isStaticVar. Referenced by operator=(), and Parser::parseInstance().

virtual bool PotentialFieldsObject::isStatic (   )  const [inline, virtual]

Return whether the object is static or not. Returns: true, if the object is static Reimplemented in FormationObject. Definition at line 134 of file FieldObject.h. References isStaticVar. Referenced by Actionfield::addObject().

void PotentialFieldsObject::setFunction (  PotentialfieldFunction *  function  )

Sets the function of the object. Parameters: function  The function Definition at line 299 of file FieldObject.cpp. References PotentialfieldFunction::clone(). Referenced by operator=(), Parser::parseObject(), and SingleFormation::setFunction().

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void PotentialFieldsObject::setField (  FieldType  type  )

Sets the field type of the object. Parameters: type  The field type Definition at line 313 of file FieldObject.cpp. References fieldType. Referenced by operator=(), Parser::parseObject(), and SingleFormation::SingleFormation().

void PotentialFieldsObject::setField (  FieldType  type, const Sector &  sector )

Sets the field type of the object. Parameters: type  The field type sector  A sector description (if type == SECTOR_FIELD) Definition at line 319 of file FieldObject.cpp. References PotentialfieldFunction::clone(), Sector::crossFunction, and fieldType.

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void PotentialFieldsObject::setTangentialField (  TangentialField  tangentialField  )  [inline]

Sets the type of the tangential field. Parameters: tangentialField  The type of the tangential field Definition at line 156 of file FieldObject.h. Referenced by operator=(), and Parser::parseObject().

void PotentialFieldsObject::setGeometry (  PfieldGeometricObject *  geometry  )

Sets the geometry of the object. Parameters: geometry  The geometric description Definition at line 118 of file FieldObject.cpp. References absGeometry, PfieldGeometricObject::clone(), and PfieldGeometricObject::getAbs(). Referenced by AmongFormation::AmongFormation(), BetweenFormation::BetweenFormation(), operator=(), Parser::parseObject(), and RelativeFormation::RelativeFormation().

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virtual PfieldGeometricObject* PotentialFieldsObject::getGeometry (   )  const [inline, virtual]

Returns a pointer to the geometry of the object. Returns: The geometric description Reimplemented in FormationObject. Definition at line 167 of file FieldObject.h. References geometry. Referenced by SingleFormation::getDistanceToFormation(), SingleFormation::getPosition(), AmongFormation::positionInsideFormation(), BetweenFormation::positionInsideFormation(), RelativeFormation::updateGeometry(), AmongFormation::updateGeometry(), and BetweenFormation::updateGeometry().

virtual PfieldGeometricObject* PotentialFieldsObject::getAbsGeometry (   )  const [inline, virtual]

Returns a pointer to the absolute geometry of the object. Returns: The geometric description Reimplemented in FormationObject. Definition at line 173 of file FieldObject.h. References absGeometry.

void PotentialFieldsObject::setPfieldCompositionRef (  PotentialfieldComposition *  ref  )  [inline]

Sets the reference to the PotentialfieldComposition. Parameters: ref  The reference Definition at line 179 of file FieldObject.h. References refToPfieldComposition. Referenced by operator=(), and Parser::parseObject().

void PotentialFieldsObject::updateData (   )  [virtual]

Gets new data (pose/activation), if dynamic. Reimplemented in FormationObject. Definition at line 327 of file FieldObject.cpp. References dynamicPoseId, PotentialfieldComposition::getDescriptionFromId(), ObjectStateDescription::isActive, ObjectStateDescription::pose, refToPfieldComposition, and setPose().

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void PotentialFieldsObject::computeAbsGeometry (   )

Computes the absolute geometry. Definition at line 336 of file FieldObject.cpp. References absGeometry, geometry, and PfieldGeometricObject::setAbsoluteFromOther().

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double PotentialFieldsObject::computeChargeForSinglePose (  const PfPose &  objectPose, const PfPose &  position )  const [inline, protected]

Computes the charge at a pose. Parameters: objectPose  The pose of an object position  A position influenced by the object Returns: The charge Definition at line 263 of file FieldObject.cpp. References computeChargeForPointfield(), computeChargeForSectorfield(), computeChargeForShapefield(), fieldType, function, geometry, POINT_FIELD, sector, SECTOR_FIELD, and SHAPE_FIELD. Referenced by computeChargeAt().

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PfVec PotentialFieldsObject::computeGradientVecForSinglePose (  const PfPose &  objectPose, const PfPose &  position )  const [inline, protected]

Computes the gradient at a pose. Parameters: objectPose  The pose of an object position  A position influenced by the object Returns: The gradient vector Definition at line 280 of file FieldObject.cpp. References computeGradientForPointfield(), computeGradientForSectorfield(), computeGradientForShapefield(), fieldType, function, geometry, objectType, POINT_FIELD, sector, SECTOR_FIELD, and SHAPE_FIELD. Referenced by computeAbsFieldVecAt().

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Member Data Documentation

PfPose PotentialFieldsObject::pose [protected]

The pose of the object. Definition at line 190 of file FieldObject.h. Referenced by operator=().

std::string PotentialFieldsObject::name [protected]

The name of the object. Definition at line 192 of file FieldObject.h. Referenced by createInstance(), and operator=().

bool PotentialFieldsObject::active [protected]

Flag, determines if object is active. Definition at line 194 of file FieldObject.h. Referenced by operator=().

bool PotentialFieldsObject::isStaticVar [protected]

Flag, determines if object is static/dynamic. Definition at line 196 of file FieldObject.h. Referenced by isStatic(), operator=(), and setStatic().

TangentialField PotentialFieldsObject::tangentialField [protected]

Flag, determines, if the field has a tangential direction. Definition at line 198 of file FieldObject.h. Referenced by computeAbsFieldVecAt(), operator=(), and PotentialFieldsObject().

FieldType PotentialFieldsObject::fieldType [protected]

The type of the potential field. Definition at line 200 of file FieldObject.h. Referenced by computeChargeForSinglePose(), computeGradientVecForSinglePose(), operator=(), and setField().

PotentialfieldFunction* PotentialFieldsObject::function [protected]

The function of this object. Definition at line 202 of file FieldObject.h. Referenced by computeChargeForSinglePose(), computeGradientVecForSinglePose(), operator=(), PotentialFieldsObject(), and ~PotentialFieldsObject().

ObjectType PotentialFieldsObject::objectType [protected]

The type of the object (attractive/repulsive). Definition at line 204 of file FieldObject.h. Referenced by computeAbsFieldVecAt(), computeGradientVecForSinglePose(), and operator=().

PfieldGeometricObject* PotentialFieldsObject::geometry [protected]

The description of the object's geometry. Definition at line 206 of file FieldObject.h. Referenced by computeAbsGeometry(), computeChargeForSinglePose(), computeGradientVecForSinglePose(), getGeometry(), operator=(), PotentialFieldsObject(), setPose(), and ~PotentialFieldsObject().

PfieldGeometricObject* PotentialFieldsObject::absGeometry [protected]

The description of the object's geometry in absolute coordinates. Definition at line 208 of file FieldObject.h. Referenced by computeAbsGeometry(), getAbsGeometry(), operator=(), PotentialFieldsObject(), setGeometry(), setPose(), and ~PotentialFieldsObject().

Sector PotentialFieldsObject::sector [protected]

The sector of the potential field (if fieldType==SECTOR_FIELD). Definition at line 210 of file FieldObject.h. Referenced by computeChargeForSinglePose(), computeGradientVecForSinglePose(), and operator=().

PotentialfieldComposition* PotentialFieldsObject::refToPfieldComposition [protected]

A pointer to the PotentialfieldComposition. Definition at line 212 of file FieldObject.h. Referenced by operator=(), PotentialFieldsObject(), setPfieldCompositionRef(), and updateData().

unsigned int PotentialFieldsObject::dynamicPoseId [protected]

The id of the dynamic pose (if used). Definition at line 214 of file FieldObject.h. Referenced by operator=(), and updateData().

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

• Tools/PotentialFields/FieldObject.h
• Tools/PotentialFields/FieldObject.cpp

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