execution.world

Class WallObject

java.lang.Object

execution.world.WorldObject

execution.world.StationaryObject

execution.world.WallObject

public class WallObject
extends StationaryObject

MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Apr 20, 2009, 1:06:27 PM

Version:

$Id: WallObject.java 8086 2012-07-16 23:46:35Z tnorbraten $

Author:

Duane Davis

Field Summary

Fields inherited from class execution.world.WorldObject

potentialVector

Constructor Summary

Constructors

Constructor and Description
WallObject(double[] point1, double[] point2, double standoff) Constructor
WallObject(double x1, double y1, double x2, double y2, double standoff) Constructor
WallObject(LineSegment line, double standoff) Constructor
WallObject(Point point1, Point point2, double standoff) Constructor

Method Summary

Methods

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)
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	setEnd1(double[] newEnd) Moves the first end point of the wall to a new position
void	setEnd1(double newX, double newY) Moves the first end point of the wall to a new position
void	setEnd1(Point newEnd) Moves the first end point of the wall to a new position
void	setEnd2(double[] newEnd) Moves the second end point of the wall to a new position
void	setEnd2(double newX, double newY) Moves the second end point of the wall to a new position
void	setEnd2(Point newEnd) Moves the second end point of the wall to a new position
void	setEnds(double[] newEnd1, double[] newEnd2) Moves the end points of the wall to a new position
void	setEnds(double newX1, double newY1, double newX2, double newY2) Moves the end points of the wall to a new position
void	setEnds(Point newEnd1, Point newEnd2) Moves the end points of the wall to a new position
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.
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, setPosit, setStandoff

Methods inherited from class java.lang.Object

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

Constructor Detail

WallObject

public WallObject(double x1,
          double y1,
          double x2,
          double y2,
          double standoff)

Constructor

Parameters:

x1 - north/south coordinate of the first endpoint of the wall in Cartesian space

y1 - east/west coordinate of the first endpoint of the wall in Cartesian space

x2 - north/south coordinate of the second endpoint of the wall in Cartesian space

y2 - east/west coordinate of the first endpoint of the wall in Cartesian space

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

WallObject

public WallObject(double[] point1,
          double[] point2,
          double standoff)

Constructor

Parameters:

point1 - defines the first endpoint of the wall in Cartesian space

point2 - defines the second endpoint of the wall in Cartesian space

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

WallObject

public WallObject(Point point1,
          Point point2,
          double standoff)

Constructor

Parameters:

point1 - defines the first endpoint of the wall in Cartesian space

point2 - defines the second endpoint of the wall in Cartesian space

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

WallObject

public WallObject(LineSegment line,
          double standoff)

Constructor

Parameters:

line - defines the endpoints of the wall in Cartesian space

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. This method overrides the parent class method so that the endpoints of the wall are moved as well

Overrides:

setPosit in class WorldObject

Parameters:

newX -

newY -

setPosit

public void setPosit(Point newPosit)

Resets the object's position in the world. This method overrides the parent class method so that the endpoints of the wall are moved as well

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

setEnds

public void setEnds(double[] newEnd1,
           double[] newEnd2)

Moves the end points of the wall to a new position

Parameters:

newEnd1 - new first end point of the wall

newEnd2 - new second end point of the wall

setEnds

public void setEnds(Point newEnd1,
           Point newEnd2)

Moves the end points of the wall to a new position

Parameters:

newEnd1 - new first end point of the wall

newEnd2 - new second end point of the wall

setEnds

public void setEnds(double newX1,
           double newY1,
           double newX2,
           double newY2)

Moves the end points of the wall to a new position

Parameters:

newX1 - north/south coordinate of the first new end point of the wall

newY1 - east/west coordinate of the first new end point of the wall

newX2 - north/south coordinate of the second new end point of the wall

newY2 - east/west coordinate of the second new end point of the wall

setEnd1

public void setEnd1(double[] newEnd)

Moves the first end point of the wall to a new position

Parameters:

newEnd - new end point of the wall

setEnd1

public void setEnd1(Point newEnd)

Moves the first end point of the wall to a new position

Parameters:

newEnd - new end point of the wall

setEnd1

public void setEnd1(double newX,
           double newY)

Moves the first end point of the wall to a new position

Parameters:

newX - north/south coordinate of the new end point of the wall

newY - east/west coordinate of the new end point of the wall

setEnd2

public void setEnd2(double[] newEnd)

Moves the second end point of the wall to a new position

Parameters:

newEnd - new end point of the wall

setEnd2

public void setEnd2(Point newEnd)

Moves the second end point of the wall to a new position

Parameters:

newEnd - new end point of the wall

setEnd2

public void setEnd2(double newX,
           double newY)

Moves the second end point of the wall to a new position

Parameters:

newX - north/south coordinate of the new end point of the wall

newY - east/west coordinate of the new end point of the wall