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OSCAR::Cylisphere Class Reference
[ObstacleAvoidance]

A cylispherical object for use in robot or as obstacle. More...

#include <Cylisphere.hpp>

Inheritance diagram for OSCAR::Cylisphere:

Inheritance graph
[legend]
List of all members.

Public Methods

 Cylisphere (const Vector3 &pt0, const Vector3 &pt1, double rd)
 Cylisphere (const Cylisphere &arg)
 Cylisphere ()
virtual Cylisphere * Clone () const
bool SetProperties (const Vector3 &pt0, const Vector3 &pt1, double rd)
Cylisphere & operator= (const Cylisphere &rhs)

Protected Methods

virtual bool createSolid ()

Detailed Description

A cylisphere is the set of all points that are equidistant from a line segment, i.e. a cylinder with spherical ends. Cylispheres are used to model robot links and obstacles in the work space.

Constructor & Destructor Documentation

OSCAR::Cylisphere::Cylisphere (  const Vector3 &    pt0,
const Vector3 &    pt1,
double    rd
) 
 

Constructor Creates a cylisphere object from the two given endpoints (positions w.r.t. the local frame) and a radius. Global points are automatically populated using the identitiy matrix as the transform.

Parameters:
pt0 First endpoint of the cylisphere in the local frame.
pt1 Second endpoint of the cylisphere in the local frame.
rd The radius of the cylisphere.

OSCAR::Cylisphere::Cylisphere (  const Cylisphere &    arg ) 
 

Copy Constructor.

Parameters:
arg The Cylisphere obstacle to copy

OSCAR::Cylisphere::Cylisphere (    ) 
 

Constructor Use to make arrays of Cylisphere objects. Note: SetProperties(...) must be called before any other function.

Member Function Documentation

virtual Cylisphere* OSCAR::Cylisphere::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::SkeletalPrimitive.

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

Reimplemented from OSCAR::Primitive.

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

bool OSCAR::Cylisphere::SetProperties (  const Vector3 &    pt0,
const Vector3 &    pt1,
double    rd
) 
 

Set the location (w.r.t. the local frame) and radius of the cylisphere. Update() is called automatically using the last Xform Update() was called with (defaults to identity if Update() has not been called).

Returns:
true
Parameters:
pt0 Locates one end of the cylisphere in the local frame.
pt1 Locates second end of the cylisphere in the local frame.
rd The radius of the cylisphere. Use to change size or location of the cylisphere

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations