execution.world

Class CircularObject

java.lang.Object

execution.world.WorldObject

execution.world.StationaryObject

execution.world.CircularObject

public class CircularObject
extends StationaryObject

Represents a generic stationary obstacle as a circle MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Apr 14, 2009, 11:17:32 AM

Version:

$Id: CircularObject.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

Duane Davis

Field Summary

Fields inherited from class execution.world.WorldObject

potentialVector

Constructor Summary

Constructors

Constructor and Description
CircularObject(Circle circle, double standoff) Constructor
CircularObject(double[] position, double radius, double standoff) Constructor
CircularObject(double x, double y, double radius, double standoff) Constructor
CircularObject(Point position, double radius, double standoff) Constructor

Method Summary

Modifier and Type	Method and Description
double	getDistance(double[] point)
double	getDistance(double[] end1, double[] end2)
double	getDistance(double x, double y)
double	getDistance(double x1, double y1, double x2, double y2)
double	getDistance(LineSegment segment)
double	getDistance(Point point)
double	getDistance(Point end1, Point end2)
double	getRadius()
void	getVisiblePoints(double[] startPt, ArrayList<double[]> result) Develops a list of corner points or tangent points that are potentially visible from an input point--does include "standoff" in calculation (does not test whether other objects are in the way)
void	setPosit(double[] newPosit) Resets the object's position in the world
void	setPosit(double newX, double newY) Resets the object's position in the world
void	setPosit(Point newPosit) Resets the object's position in the world
void	setRadius(double newRadius) Sets the radius of the obstacle
String	toMATLABString() Generates a string representation of the Path object that can be used to plot the path in MATLAB
String	toString() Generates a string representation of the wall object

Methods inherited from class execution.world.WorldObject

getDistanceOfConcern, getPosit, getPotentialForce, getPotentialForce, getPotentialForce, getPotentialForceDirection, getPotentialForceDirection, getPotentialForceDirection, getPotentialVector, getPotentialVector, getPotentialVector, getStandoff, getXPosit, getYPosit, setStandoff

Methods inherited from class java.lang.Object

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

Constructor Detail

CircularObject

public CircularObject(double x,
                      double y,
                      double radius,
                      double standoff)

Constructor

Parameters:

x - north/south Cartesian coordinate of the object's location in the world

y - east/west Cartesian coordinate of the object's location in the world

radius - defines the size of the obstacle as a radius (meters) around a central point (uses the absolute value to avoid negative)

standoff - required distance (meters) that the vehicle must remain clear from this object

CircularObject

public CircularObject(double[] position,
                      double radius,
                      double standoff)

Constructor

Parameters:

position - 2-element array with the Cartesian coordinates of the object's location in the world

radius - defines the size of the obstacle as a radius (meters) around a central point (uses the absolute value to avoid negative)

standoff - required distance (meters) that the vehicle must remain clear from this object

CircularObject

public CircularObject(Point position,
                      double radius,
                      double standoff)

Constructor

Parameters:

position - the Cartesian coordinates of the object's location in the world

radius - defines the size of the obstacle as a radius (meters) around a central point (uses the absolute value to avoid negative)

standoff - required distance (meters) that the vehicle must remain clear from this object

CircularObject

public CircularObject(Circle circle,
                      double standoff)

Constructor

Parameters:

circle - defines the size of the obstacle as a radius (meters) around a central point (uses the absolute value to avoid negative)

standoff - required distance (meters) that the vehicle must remain clear from this object

Method Detail

getVisiblePoints

public void getVisiblePoints(double[] startPt,
                             ArrayList<double[]> result)

Develops a list of corner points or tangent points that are potentially visible from an input point--does include "standoff" in calculation (does not test whether other objects are in the way)

Specified by:

getVisiblePoints in class StationaryObject

Parameters:

startPt - Cartesian coordinates of the point being tested

result - container into which the computed points (double[2]) that can be reached from the test point without crossing the objects will be added

toMATLABString

public String toMATLABString()

Generates a string representation of the Path object that can be used to plot the path in MATLAB

Specified by:

toMATLABString in class StationaryObject

setPosit

public void setPosit(double newX,
                     double newY)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newX -

newY -

setPosit

public void setPosit(double[] newPosit)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newPosit - 2-element array containing the new Cartesian position

setPosit

public void setPosit(Point newPosit)

Resets the object's position in the world

Overrides:

setPosit in class WorldObject

Parameters:

newPosit - 2-element array containing the new Cartesian position

getDistance

public double getDistance(double[] point)

Overrides:

getDistance in class WorldObject

Parameters:

point - a 2x1 double[] containing the Cartesian coordinates of the point being tested

Returns:

the distance (meters) between the point and a specified point

getDistance

public double getDistance(Point point)

Overrides:

getDistance in class WorldObject

Parameters:

point - a 2x1 double[] containing the Cartesian coordinates of the point being tested

Returns:

the distance (meters) between the point and a specified point

getDistance

public double getDistance(double x,
                          double y)

Overrides:

getDistance in class WorldObject

Parameters:

x - the north/south Cartesian coordinate of the point being tested

y - the east/west Cartesian coordinate of the point being tested

Returns:

the distance (meters) between the point and a specified point

getDistance

public double getDistance(LineSegment segment)

Overrides:

getDistance in class WorldObject

Parameters:

segment - an object containing the line segment

Returns:

the distance (meters) between the object and a specified line segment

getDistance

public double getDistance(Point end1,
                          Point end2)

Overrides:

getDistance in class WorldObject

Parameters:

end1 - an object containing the Cartesian coordinates of the first end point

end2 - an object containing the Cartesian coordinates of the second end point

Returns:

the distance (meters) between the object and a specified line segment

getDistance

public double getDistance(double[] end1,
                          double[] end2)

Overrides:

getDistance in class WorldObject

Parameters:

end1 - a 2x1 double[] containing the Cartesian coordinates of the first segment end point

end2 - a 2x1 double[] containing the Cartesian coordinates of the second segment end point

Returns:

the distance (meters) between the object and a specified line segment

getDistance

public double getDistance(double x1,
                          double y1,
                          double x2,
                          double y2)

Overrides:

getDistance in class WorldObject

Parameters:

x1 - the north/south Cartesian coordinate of the first segment end point

y1 - the east/west Cartesian coordinate of the first segment end point

x2 - the north/south Cartesian coordinate of the second segment end point

y2 - the east/west Cartesian coordinate of the second segment end point

Returns:

the distance (meters) between the object and a specified line segment

toString

public String toString()

Generates a string representation of the wall object

Overrides:

toString in class StationaryObject

getRadius

public double getRadius()

Returns:

the radius (meters) of the obstacle

setRadius

public void setRadius(double newRadius)

Sets the radius of the obstacle

Parameters:

newRadius - the new radius (meters) of the obstacle (uses the absolute value to avoid negative)