execution.world

Class StationaryObject

java.lang.Object

execution.world.WorldObject

execution.world.StationaryObject

Direct Known Subclasses:

CircularObject, WallObject

public abstract class StationaryObject
extends WorldObject

A class used to represent a stationary object that the vehicle has identified for placement in the world. MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Sep 1, 2005, 10:46:41 AM

Version:

$Id: StationaryObject.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
StationaryObject(double[] position, double standoff) Constructor
StationaryObject(double x, double y, double standoff) Constructor
StationaryObject(Point position, double standoff) Constructor

Method Summary

Modifier and Type	Method and Description
abstract 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)
abstract 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

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

Methods inherited from class java.lang.Object

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

Constructor Detail

StationaryObject

public StationaryObject(double x,
                        double y,
                        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

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

StationaryObject

public StationaryObject(double[] position,
                        double standoff)

Constructor

Parameters:

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

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

StationaryObject

public StationaryObject(Point position,
                        double standoff)

Constructor

Parameters:

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

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

Method Detail

getVisiblePoints

public abstract 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)

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 abstract String toMATLABString()

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

toString

public String toString()

Generates a string representation of the wall object

Overrides:

toString in class WorldObject