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OSCAR::Plane Class Reference
[ObstacleAvoidance]

Define a planar primitive for use in robot obstacle avoidance. More...

#include <Plane.hpp>

Inheritance diagram for OSCAR::Plane:

[legend]List of all members.


Public Methods
	Plane (const Vector3 &bs, const Vector3 &pt1, const Vector3 &pt2, double th=0.0)
	Plane (const Plane &arg)
	Plane ()
virtual Plane *	Clone () const
bool	SetProperties (const Vector3 &bs, const Vector3 &pt1, const Vector3 &pt2, double th=0.0)
const Vector3 &	GetR () const
const Vector3 &	GetS () const
const Vector3 &	GetN () const
bool	Bounded () const
Plane &	operator= (const Plane &rhs)
Private Methods
virtual bool	updateInternalParameters ()
virtual bool	createSolid ()
Private Attributes
Vector3	r
Vector3	n
Vector3	s
bool	bounded

Detailed Description

A planar primitive is a quadrilateral primitive that is defined by three points and a radius. The surface is defined by S = {dist = ||(p - (p1 - base)*t1 + (p2 - base)*t2)|| : dist = rad}. In the case of a bounded primitive, the bounds of t1 and t2 are [0,1]; otherwise the primitive is considered unbounded and no restrictions are places on t1 or t2.

Constructor & Destructor Documentation

OSCAR::Plane::Plane ( const Vector3 & bs,

const Vector3 & pt1,

const Vector3 & pt2,

double th = 0.0

)

Constructor Constructs a plane from the planes base point, two of its corner points (all points w.r.t. the local frame) and the planes radius. Automatically populates the global using an identity transformation matrix.

Parameters:

bs Base corner point of the planar (quadrilateral) object in the world frame.

pt1 First corner point of the planar (quadrilateral) object in the world frame.

pt2 Second corner point of the planar (quadrilateral) object in the world frame.

th The half thickness (edge radius) of the planar ( quadrilateral) object. Default value is 0.0.

OSCAR::Plane::Plane ( const Plane & arg )

OSCAR::Plane::Plane ( )

Constructor Used to create arrays of Plane objects Note: SetProperties(...) must be called before any other function.

Member Function Documentation

bool OSCAR::Plane::Bounded ( ) const

Determine if the planar object is a halfspace or quadrilateral. Planes are now always quadrilaterals, so this function should always return true.

Returns:
false - primitive is a halfspace; true - object is quadrilateral

virtual Plane* OSCAR::Plane::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::Plane::createSolid ( ) [private, virtual]

Reimplemented from OSCAR::Primitive.

const Vector3& OSCAR::Plane::GetN ( ) const

Returns a unit vector normal to the plane N is a unit normal obtained by crossing (pt1-base) with (pt2-base) and normalizing.

Returns:
The N vector

const Vector3& OSCAR::Plane::GetR ( ) const

Returns a unit vector in the plane, parallel to (pt1 - base) R is a unit vector point from base to point1.

Returns:
The R vector value

const Vector3& OSCAR::Plane::GetS ( ) const

Returns a unit vector in the plane, perpendicular to (pt1 - base) S is a unit normal that is orthogonal to both N and R, obtained by crossing N and R.

Returns:
The S vector value

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

bool OSCAR::Plane::SetProperties ( const Vector3 & bs,

const Vector3 & pt1,

const Vector3 & pt2,

double th = 0.0

)

Update location (w.r.t. the local frame) and thickness of the plane. Update() is automatically called with the last Xform Update() was called with (identity if Update() has not been called).

Returns:
Returns 1.

Parameters:

bs Base corner point of the planar (quadrilateral) object in the local frame.

pt1 First corner point of the planar (quadrilateral) object in the local frame.

pt2 Second corner point of the planar (quadrilateral) object in the local frame.

th The half thickness (edge radius) of the planar ( quadrilateral) object. Default value is 0.0. Use to update size, shape, etc. of planar object