execution.world

Class WorldObject

java.lang.Object

execution.world.WorldObject

Direct Known Subclasses:

MovingObject, StationaryObject

public abstract class WorldObject
extends Object

A class used to represent an 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: WorldObject.java 8020 2012-07-03 01:37:06Z brutzman $

Author:

Duane Davis

Field Summary

Fields

Modifier and Type	Field and Description
protected double[]	potentialVector Container 2 x 1 array for a potential field vector for driving the vehicle away from this object and towards a goal point

Constructor Summary

Constructors

Constructor and Description
WorldObject(double[] position, double standoff) Constructor
WorldObject(double x, double y, double standoff) Constructor
WorldObject(Point position, 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)
double	getDistanceOfConcern()
protected Point	getPosit()
protected double	getPotentialForce(double[] position) Computes the of the potential vector directing the owning vehicle away from this object
protected double	getPotentialForce(double x, double y) Computes the of the potential vector directing the owning vehicle away from this object
protected double	getPotentialForce(Point position) Computes the of the potential vector directing the owning vehicle away from this object
protected double	getPotentialForceDirection(double[] point) Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
protected double	getPotentialForceDirection(double x, double y) Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
protected double	getPotentialForceDirection(Point point) Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location.
double[]	getPotentialVector(double[] position, double maxDofConcern) Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
double[]	getPotentialVector(double x, double y) Computes and returns a potential vector for directing the owning vehicle away from this object
double[]	getPotentialVector(Point position) Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object
double	getStandoff()
double	getXPosit()
double	getYPosit()
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	setStandoff(double newStandoff) Resets the standoff distance (meters) that the vehicle must maintain from this object
String	toString() Generates a string representation of the wall object

Methods inherited from class java.lang.Object

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

Field Detail

potentialVector

protected double[] potentialVector

Container 2 x 1 array for a potential field vector for driving the vehicle away from this object and towards a goal point

Constructor Detail

WorldObject

public WorldObject(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

WorldObject

public WorldObject(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

WorldObject

public WorldObject(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

setPosit

public void setPosit(double newX,
            double newY)

Resets the object's position in the world

Parameters:

newX -

newY -

setPosit

public void setPosit(double[] newPosit)

Resets the object's position in the world

Parameters:

newPosit - 2-element array containing the new Cartesian position

setPosit

public void setPosit(Point newPosit)

Resets the object's position in the world

Parameters:

newPosit - 2-element array containing the new Cartesian position

getPosit

protected Point getPosit()

Returns:

the location of the object's center

getXPosit

public double getXPosit()

Returns:

the x coordinate of the object's location

getYPosit

public double getYPosit()

Returns:

the y coordinate of the object's location

setStandoff

public void setStandoff(double newStandoff)

Resets the standoff distance (meters) that the vehicle must maintain from this object

Parameters:

newStandoff - new standoff distance

getStandoff

public double getStandoff()

Returns:

the required standoff distance (meters) that the vehicle must maintain from this object

getDistance

public double getDistance(Point point)

Parameters:

point - an object containing the Cartesian coordinates of the point being tested

Returns:

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

getDistance

public double getDistance(double[] point)

Parameters:

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

Returns:

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

getDistance

public double getDistance(double x,
                 double y)

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 object and a specified point

getDistance

public double getDistance(LineSegment segment)

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)

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)

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)

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

getDistanceOfConcern

public double getDistanceOfConcern()

Returns:

the distance at which this object is potentially relevant to vehicle navigation

getPotentialVector

public double[] getPotentialVector(double[] position,
                          double maxDofConcern)

Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

maxDofConcern - the maximum distance at which this object is relevant for obstacle avoidance purposes

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialVector

public double[] getPotentialVector(Point position)

Computes and returns a potential vector for directing the owning vehicle towards a goal point while avoiding this object

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialVector

public double[] getPotentialVector(double x,
                          double y)

Computes and returns a potential vector for directing the owning vehicle away from this object

Parameters:

x - north/south Cartesian coordinates defining the owning vehicle's current position

y - east/west Cartesian coordinates defining the owning vehicle's current position

Returns:

a 2x1 double[] containing a scaled potential vector that pushes the vehicle away from this object

getPotentialForce

protected double getPotentialForce(double[] position)

Computes the of the potential vector directing the owning vehicle away from this object

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

getPotentialForce

protected double getPotentialForce(Point position)

Computes the of the potential vector directing the owning vehicle away from this object

Parameters:

position - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

getPotentialForce

protected double getPotentialForce(double x,
                       double y)

Computes the of the potential vector directing the owning vehicle away from this object

Parameters:

x - north/south Cartesian coordinates defining the owning vehicle's current position

y - east/west Cartesian coordinates defining the owning vehicle's current position

Returns:

a scalar value for the repelling force driving the vehicle away from the object

getPotentialForceDirection

protected double getPotentialForceDirection(double[] point)

Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class

Parameters:

point - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

the direction (0 radians is north) that the potential vector will push the vehicle

getPotentialForceDirection

protected double getPotentialForceDirection(Point point)

Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class

Parameters:

point - Cartesian coordinates (2x1 double[]) defining the owning vehicle's current position

Returns:

the direction (0 radians is north) that the potential vector will push the vehicle

getPotentialForceDirection

protected double getPotentialForceDirection(double x,
                                double y)

Computes the direction that a potential vector will steer the owning vehicle to avoid this object Default is for the force to be oriented directly away from the point defining the location. If this is not what is required, this method should be overridden by the implementing class

Parameters:

x - north/south Cartesian coordinates defining the owning vehicle's current position

y - east/west Cartesian coordinates defining the owning vehicle's current position

Returns:

the direction (0 radians is north) that the potential vector will push the vehicle

toString

public String toString()

Generates a string representation of the wall object

Overrides:

toString in class Object