GeoCircle (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.geography.GeoArea
- - planner.geography.GeoCircle

```
public class GeoCircle
extends GeoArea
```
Class for representing a circular geographic area for planner use

Author:

dtdavis

Constructor Summary

Constructors
Constructor and Description

GeoCircle(double[] center, double radius)
Creates a new instance of GeoCircle

Constructors
Constructor and Description
`GeoCircle(double[] center, double radius)` Creates a new instance of GeoCircle

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`List<double[]>`	`boundingBox()` Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoCircle
`double`	`boundingCircleRadius()` Returns the radius of a circle (centered at the area centroid) that encloses the area
`double[]`	`closestPoint(double[] point)` Returns the point on the circle that is closest to the parameter point
`boolean`	`contains(double[] point)` Returns true if the point defined by the parameter is inside the GeoCircle
`AreaElementType`	`convertToAreaElementType()` Converts the GeoCircle to an AVCL area object
`double`	`getArea()` Returns the area (square meters) of the GeoCircle
`double[]`	`getCentroid()` Returns a double[2] with the (x, y) position of the area's centroid
`double[]`	`getIntersection(double[] point1, double[] point2)` Determines the closest point of intersection between the region and a line
`double`	`getRadius()` Returns the radius of the circle
`double[]`	`getSegmentIntersection(double[] point1, double[] point2)` Determines the closest point of intersection between the region and a line segment
`List<double[]>`	`getTangents(double[] start)` Determines the points on the area's edge that are tangentially reachable from a specified point
`boolean`	`isOnEdge(double[] point)` Returns true if the point defined by the parameter is within 1m of the edge of the GeoArea
`static void`	`main(String[] args)`
`String`	`toMATLABString(String colorCode)` 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 GeoCircle object

Methods inherited from class planner.geography.GeoArea
distance, distance, dotProduct, getLineIntersection, getLineSegmentIntersection, getLineToSegmentIntersection, isColocated, isColocated, isConcave, isInLineSegment, isInSegment, isOnSegment, isOnSegment, orientedBoundingBox

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - GeoCircle
```
public GeoCircle(double[] center,
                 double radius)
```
    Creates a new instance of GeoCircle
    
    Parameters:
    
    center - the (x, y) center of the circle
    
    radius - the radius of the circle in meters
- Method Detail
  - getTangents
```
public List<double[]> getTangents(double[] start)
```
    Determines the points on the area's edge that are tangentially reachable from a specified point
    
    Specified by:
    
    getTangents in class GeoArea
    
    Parameters:
    
    start - the point from which tangents are to be determined start[0] = x, start[1] = y
    
    Returns:
    
    an ArrayList with two double[2] objects representing the tangent points
  - getIntersection
```
public double[] getIntersection(double[] point1,
                                double[] point2)
```
    Determines the closest point of intersection between the region and a line
    
    Specified by:
    
    getIntersection in class GeoArea
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
    
    a 2 element array with the (X, Y) point of intersection (null if no intersect)
  - getSegmentIntersection
```
public double[] getSegmentIntersection(double[] point1,
                                       double[] point2)
```
    Determines the closest point of intersection between the region and a line segment
    
    Specified by:
    
    getSegmentIntersection in class GeoArea
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
    
    a 2 element array with the (X, Y) point of intersection (null if no intersect)
  - getArea
```
public double getArea()
```
    Returns the area (square meters) of the GeoCircle
    
    Specified by:
    
    getArea in class GeoArea
    
    Returns:
  - getCentroid
```
public double[] getCentroid()
```
    Returns a double[2] with the (x, y) position of the area's centroid
    
    Specified by:
    
    getCentroid in class GeoArea
    
    Returns:
  - closestPoint
```
public double[] closestPoint(double[] point)
```
    Returns the point on the circle that is closest to the parameter point
    
    Specified by:
    
    closestPoint in class GeoArea
    
    Parameters:
    
    point - double[2] with the (x, y) coordinates of the point being tested
    
    Returns:
  - boundingCircleRadius
```
public double boundingCircleRadius()
```
    Returns the radius of a circle (centered at the area centroid) that encloses the area
    
    Specified by:
    
    boundingCircleRadius in class GeoArea
    
    Returns:
  - boundingBox
```
public List<double[]> boundingBox()
```
    Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoCircle
    
    Specified by:
    
    boundingBox in class GeoArea
    
    Returns:
  - contains
```
public boolean contains(double[] point)
```
    Returns true if the point defined by the parameter is inside the GeoCircle
    
    Specified by:
    
    contains in class GeoArea
    
    Parameters:
    
    point - double[2] defining the point being tested
    
    Returns:
  - isOnEdge
```
public boolean isOnEdge(double[] point)
```
    Returns true if the point defined by the parameter is within 1m of the edge of the GeoArea
    
    Specified by:
    
    isOnEdge in class GeoArea
    
    Parameters:
    
    point - double[2] defining the point being tested
    
    Returns:
    
    Returns true if the point defined by the parameter is on the edge of the GeoArea
  - toString
```
public String toString()
```
    Generates a string representation of the GeoCircle object
    
    Overrides:
    
    toString in class Object
  - convertToAreaElementType
```
public AreaElementType convertToAreaElementType()
```
    Converts the GeoCircle to an AVCL area object
    
    Specified by:
    
    convertToAreaElementType in class GeoArea
    
    Returns:
    
    Object AVCL area object corresponding to the GeoPoint
  - getRadius
```
public double getRadius()
```
    Returns the radius of the circle
    
    Returns:
    
    double radius of the GeoCircle in meters
  - main
```
public static void main(String[] args)
```
    Parameters:
    
    args -
  - toMATLABString
```
public String toMATLABString(String colorCode)
```
    Generates a string representation of the Path object that can be used to plot the path in MATLAB
    
    Specified by:
    
    toMATLABString in class GeoArea
    
    Parameters:
    
    colorCode - MATLAB code for the color that is to be used in plotting the areas
    
    Returns:
    
    MATLAB compatible string that will plot the areas in the set

Class GeoCircle

Constructor Summary

Method Summary

Methods inherited from class planner.geography.GeoArea

Methods inherited from class java.lang.Object

Constructor Detail

GeoCircle

Method Detail

getTangents

getIntersection

getSegmentIntersection

getArea

getCentroid

closestPoint

boundingCircleRadius

boundingBox

contains

isOnEdge

toString

convertToAreaElementType

getRadius

main

toMATLABString