planner.geography

Class GeoPoint

java.lang.Object

planner.geography.GeoArea

planner.geography.GeoPoint

public class GeoPoint
extends GeoArea

Used to represent a geographic point to be utilized by various planners

Author:

dtdavis

Constructor Summary

Constructors

Constructor and Description
GeoPoint(double[] point) Creates a new instance of GeoPoint
GeoPoint(double x, double y) Creates a new instance of GeoPoint

Method Summary

Modifier and Type	Method and Description
List<double[]>	boundingBox() Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoArea
double	boundingCircleRadius() Returns the radius of a circle (centered at the area centroid) that encloses the area
double[]	closestPoint(double[] point) Returns the point in the GeoArea that is closest to the parameter point
boolean	contains(double[] point) Returns true if the point defined by the parameter is inside the GeoPoint
AreaElementType	convertToAreaElementType() Converts the GeoPoint to an AVCL area object
double	getArea() Returns the area (square meters) of the GeoArea
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[]	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 on the edge of the GeoArea
String	toMATLABString(String colorCode) Generates a string representation of the Path object that can be used to plot the path in MATLAB

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, toString, wait, wait, wait

Constructor Detail

GeoPoint

public GeoPoint(double x,
                double y)

Creates a new instance of GeoPoint

Parameters:

x - the X coordinate of the geographic point

y - the Y coordinate of the geographic point

GeoPoint

public GeoPoint(double[] point)

Creates a new instance of GeoPoint

Parameters:

point - double[2] containing the (x, y) location of the GeoPoint

Method Detail

boundingBox

public List<double[]> boundingBox()

Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoArea

Specified by:

boundingBox in class GeoArea

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:

closestPoint

public double[] closestPoint(double[] point)

Returns the point in the GeoArea 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:

contains

public boolean contains(double[] point)

Returns true if the point defined by the parameter is inside the GeoPoint

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 on 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

getArea

public double getArea()

Returns the area (square meters) of the GeoArea

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:

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)

getTangents

public List<double[]> getTangents(double[] start)

Determines the points on the area's edge that are tangentially reachable from a specified point. Selects tangential points that avoids the point by at least ten meters

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

convertToAreaElementType

public AreaElementType convertToAreaElementType()

Converts the GeoPoint to an AVCL area object

Specified by:

convertToAreaElementType in class GeoArea

Returns:

Object AVCL area object corresponding to the GeoPoint

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