cz.cuni.amis.pogamut.usar2004.samples.AirScanner
Class Obstacle

java.lang.Object
  cz.cuni.amis.pogamut.usar2004.samples.AirScanner.Obstacle

public class Obstacle
extends Object

Author:

vejmanm

Field Summary

static double	joinDistance
static double	maxEdgeSize
static double	maxExtendRatio
static double	obstacleSize

Constructor Summary

Obstacle(double centerX, double centerY)

Obstacle(math.geom2d.Point2D center)
Initial constructor, center is the center of an obstacle, width and height is given by robot dimension(0.5).

Obstacle(math.geom2d.Point2D corner, double width, double height)

Method Summary

boolean	canExtend() If Obstacle grows only one dimension enough we don't want to extend it nomore.
math.geom2d.Point2D	getCorner()
double	getHeight()
double	getWidth()
boolean	isInside(double x, double y)
static Obstacle	MergeObstacles(Obstacle blockA, Obstacle blockB)
Obstacle	tryExtend(double x, double y) If new Obstacle [x,y] is within the distance of joinDistance, i will extend this Obstacle boundbox by this point [x,y] plus its own boundbox of obstacleSize.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

obstacleSize

public static final double obstacleSize

See Also:

Constant Field Values

joinDistance

public static final double joinDistance

See Also:

Constant Field Values

maxExtendRatio

public static final double maxExtendRatio

See Also:

Constant Field Values

maxEdgeSize

public static final double maxEdgeSize

See Also:

Constant Field Values

Constructor Detail

Obstacle

public Obstacle(math.geom2d.Point2D corner,
                double width,
                double height)

Obstacle

public Obstacle(math.geom2d.Point2D center)

Initial constructor, center is the center of an obstacle, width and height is given by robot dimension(0.5). From the center point it is computed the corner Point also.

Parameters:

center - Center of a new obstacle.

Obstacle

public Obstacle(double centerX,
                double centerY)

Method Detail

getWidth

public double getWidth()

getHeight

public double getHeight()

getCorner

public math.geom2d.Point2D getCorner()

tryExtend

public Obstacle tryExtend(double x,
                          double y)

If new Obstacle [x,y] is within the distance of joinDistance, i will extend this Obstacle boundbox by this point [x,y] plus its own boundbox of obstacleSize. If a small square is within the absorb region of this rectangle, it will enlarge itself to absorb this square so we don't need to create a new obstacle object.

Parameters:

x - x coordinate of new obstacle (Obstacle of a minimum size)

y - y coordinate of new obstacle (Obstacle of a minimum size)

Returns:

Returns Can = 1, Can not = -1 and is already inside = 0

canExtend

public boolean canExtend()

If Obstacle grows only one dimension enough we don't want to extend it nomore. It is good to have more smaller more accurate than fewer larger and sitorted obstacle boundboxes.

Returns:

Returns if obstacle is able to grow

isInside

public boolean isInside(double x,
                        double y)

MergeObstacles

public static Obstacle MergeObstacles(Obstacle blockA,
                                      Obstacle blockB)