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OSCAR::Cone Class Reference
[ObstacleAvoidance]

A cone primitive used for modeling of objects in workcells The cone (in its local frame) will be symmetric about the y axis and its total height will be centered at y=0 with the tip of the cone at y=height/2. The cone can then be moved in its local from by specifying a local transform. More...

#include <Cone.hpp>

Inheritance diagram for OSCAR::Cone:

[legend]List of all members.


Public Methods
	Cone (const double h, const double r, const Xform &inFrameTransform)
	Cone (const Cone &arg)
	Cone ()
virtual Cone *	Clone () const
const vector< Vector3 > &	GetPoints (ReferenceFrame globalOrLocal=Global) const
bool	SetProperties (const double h, const double r, const Xform &inFrameTransform)
bool	SetHeight (const double h)
bool	SetRadius (const double r)
double	GetHeight () const
double	GetRadius () const
bool	SetLocalTransform (const Xform &inFrameTransform)
const Xform &	GetLocalTransform () const
virtual bool	Update (const Xform &transform)
Cone &	operator= (const Cone &rhs)
Protected Methods
bool	populatePoints ()
bool	TransformInternalToLocal ()
virtual bool	createSolid ()
Protected Attributes
double	height
double	radius
Xform	localTransform
std::vector< Vector3 >	internalPoint
std::vector< Vector3 >	point [2]

Detailed Description

Author:: Andrew Spencer

Constructor & Destructor Documentation

OSCAR::Cone::Cone ( const double h,

const double r,

const Xform & inFrameTransform

)

Constructor Constructs a Cone from a height, a base radius, and an inFrameTransform. This transform specifies the transformation of the cone away from it's default position (0,0,0) to it's correct position w.r.t. the local frame. All global information is automatically populated using an identity transformation matrix.

Parameters:

h height of the cone

r radius of the cone

inFrameTransform An Xform representing the transformation of the cone in its local frame.

OSCAR::Cone::Cone ( const Cone & arg ) [inline]

Copy Constructor.

Parameters:

arg The cone obstacle to copy

OSCAR::Cone::Cone ( )

Constructor Use to make arrays of Cone objects. Note: SetProperties(...) must be called before any other function, and that the local transform defaults to the identity matrix.

Member Function Documentation

virtual Cone* OSCAR::Cone::Clone ( ) const [virtual]

Clone this object.

Returns:
A pointer to the cloned object which MUST be deleted or there will be memory leak.

Implements OSCAR::Primitive.

virtual bool OSCAR::Cone::createSolid ( ) [protected, virtual]

Reimplemented from OSCAR::Primitive.

double OSCAR::Cone::GetHeight ( ) const [inline]

Get the height of the cone.

Returns:
height of the cone

const Xform& OSCAR::Cone::GetLocalTransform ( ) const [inline]

Get the local frame transformation for the cone. Update() is automatically called using the last Xform Update() was called with (idenity if Update() has not been called).

Returns:
A reference to a const Xform which is the local frame transformation

const vector<Vector3>& OSCAR::Cone::GetPoints ( ReferenceFrame globalOrLocal = Global ) const [inline]

GetPoints Gives the tip point and the center of the base point of the cone w.r.t. either the local frame of the global frame.

Parameters:

Reference globalOrLocal Indicates which set of points you want to return

Returns:
gives the base point of the cone (the center of the circular base) and the point of the tip, in either the cones local or global frame

double OSCAR::Cone::GetRadius ( ) const [inline]

Get the radius of the cone.

Returns:
radius of the cone

Cone& OSCAR::Cone::operator= ( const Cone & rhs )

bool OSCAR::Cone::populatePoints ( ) [protected]

bool OSCAR::Cone::SetHeight ( const double h )

Update the height of the cone.

Parameters:

h The height of the cone

Returns:
true

bool OSCAR::Cone::SetLocalTransform ( const Xform & inFrameTransform )

Update the local frame transform of the cone.

Parameters:

inFrameTransform The new local frame transform (Xform) for the box

Returns:
true

bool OSCAR::Cone::SetProperties ( const double h,

const double r,

const Xform & inFrameTransform

)

Update the height and radius of the cone, and it's position in the local frame. Update() is automatically called using the last Xform it was called with (identity if Update() has not been called).

Returns:
true

Parameters:

h The height of the cone

r The radius of the cone

inFrameTransform The transformation for the box in its local frame.

Returns:
true

bool OSCAR::Cone::SetRadius ( const double r )

Update the radius of the cone.

Parameters:

r The radius of the cone

Returns:
true

bool OSCAR::Cone::TransformInternalToLocal ( ) [protected]

virtual bool OSCAR::Cone::Update ( const Xform & transform ) [virtual]

Transform the points from the local frame to the global frame.

Parameters:

transform The Xform to use for the transformation

Returns:
true upon completion

Reimplemented from OSCAR::Primitive.