This class defines a standard robotic configuration, containing the position of a reference point and the orientation of a main axis. More...

#include <OrPtConfig.hpp>

Inheritance diagram for iSeeML::rob::OrPtConfig:

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Collaboration diagram for iSeeML::rob::OrPtConfig:

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Public Member Functions
	OrPtConfig ()
	The default constructor should only be used for array initializations: it correspond to a default point with zero orientation. More...

	OrPtConfig (const iSeeML::geom::Point &P, const double &theta)
	The main constructor. More...

	OrPtConfig (const double &x, const double &y, const double &theta)
	A usefull constructor. More...

virtual	~OrPtConfig ()
	The virtual destructor does nothing.

iSeeML::Object &	clone () const
	Description method, giving a copy of the current configuration. More...

void	writeTo (ostream &O) const
	Description method, writing the configuration in a given output stream: coordinate in each dimension is written, between paranthesis and separated by commas. More...

const iSeeML::geom::Point &	position () const
	Description method, giving the position of the robot's reference point in this configuration. More...

const double &	orientation () const
	Description method, giving the orientation of the robot's main axis in this configuration. More...

iSeeML::geom::Vector	projection (const iSeeML::geom::Point &P) const
	Gives the projection of a point in the frame of this configuration. More...

OrPtConfig	projection (const OrPtConfig &q) const
	Projects a configuration in the frame of this configuration. More...

OrPtConfig &	uTurn ()
	Modification method, turning the current oriented point to its opposite: the position does not change but the orientation is replaced by its opposite ( $\pm$ $\pi$ is added to it). More...

bool	operator== (const OrPtConfig &other) const
	Equality operator between oriented points. More...

void	operator+= (const OrPtConfig &other)
	Adds an oriente point to the current one: gives the oriented point obtained when the added oriented point is considered in the current's frame. More...

OrPtConfig	operator+ (const OrPtConfig &other) const
	Addition operator between oriented points: gives the oriented point obtained when the second oriented point is considered in the first's frame. More...

OrPtConfig	opposite () const
	Various method, giving the opposite oriented point of the current one: the opposite oriented point has the same position but opposite orientation (current oriented point's orientation $\pm$ $\pi$ ). More...

double	distance2 (const OrPtConfig &other) const
	Various method, giving the distance between two oriented points' positions. More...

bool	isParallelTo (const OrPtConfig &other) const
	Various method, checking whether two oriented points are parallel, ie whether their orientations are equal (modulo 2 ). More...

bool	isSymmetricTo (const OrPtConfig &other) const
	Various method, checking whether two oriented points are symmetric, ie whether their orientations are symmetric wrt the line segment connecting their position. More...

bool	isAlignedWith (const OrPtConfig &other) const
	Various method, checking whether two oriented points are aligned: their orientations should be equal, and be the same as the orientation of the segment connecting their positions. More...

bool	hasInFront (const iSeeML::geom::Point &point) const
	Various method, checking whether a point is in the front half-plane of the current oriented point: the vector connecting the current oriented point's position to the given point should make an angle between - $\pi$ / 2 and $\pi$ / 2 with the current oriented point's orientation. More...

Public Member Functions inherited from iSeeML::Object
virtual	~Object ()
	This virtual class needs a virtual destructor.

virtual const string	className () const
	Description method, giving the object's class name. More...

bool	sameClass (const iSeeML::Object &other)
	Method verifying that a given object has the same type (same class name) than the current one. More...

Static Public Attributes
static const string	ClassName
	The class name is public, as this class can be instanced. More...

Protected Member Functions
int	algDimension () const
	Description method, giving the dimension of the containing space (3) when this configuration is considered as an algebraic vector. More...

double	algCoord (const int i) const
	Description method, giving the coordinate of given index of the configuration (both coordinates of the position, then orientation). More...

Protected Member Functions inherited from iSeeML::Object
virtual void	algWriteTo (ostream &O) const
	Description method for algebraic vectors, writing this vector in a given output stream: coordinates for each dimension are written, between paranthesis and separated by commas. More...

Additional Inherited Members
Static Public Member Functions inherited from iSeeML::Object
template<class T >
static const T &	min (const T &a, const T &b)
	Method giving the minimum of two elements. More...

template<class T >
static const T &	max (const T &a, const T &b)
	Method giving the maximum of two elements. More...

static double	sqr (const double &x)
	Method giving the square of a double. More...

static double	mod2pi (const double &theta)
	Method giving the angle between - $\pi$ (excluded) and $\pi$ (included), which is equal to a given angle modulo 2 $\pi$ . More...

static double	rad2deg (const double &theta)
	Method transforming an angle in radian, $x \pi$ with between -1 (excluded) and 1 (included), into its equivalent in degree, i.e. More...

static double	deg2rad (const double &theta)
	Method transforming an angle in degree, with between -1 (excluded) and 1 (included), into its equivalent in radian, i.e. More...

static bool	isPositive (const double &x)
	Method telling whether a double is strictly positive. More...

static bool	isNegative (const double &x)
	Method telling whether a double is strictly negative. More...

static bool	isZero (const double &x)
	Method comparing a double to zero. More...

static int	sign (const double &x)
	Method giving the sign of a double. More...

Related Functions inherited from iSeeML::Object
ostream &	operator<< (ostream &O, const iSeeML::Object &o)
	Modification method, writing a description of a ISeeML object in a given output stream. More...

Detailed Description

This class defines a standard robotic configuration, containing the position of a reference point and the orientation of a main axis.

This configuration is sufficient to define the position of most robots, and thus is enough for collision avoidance. However, taking into account dynamic constraints (as velocity and acceleration bounds) or more precise kinematic constraints (as continuity of the directing wheels' positions) generally requires a more complex configuration, as e.g. iSeeML::rob::CurvConfig.

This class contains description methods giving position and orientation of a standard configuration as well as the writeTo method, a modification method changing a standard configuration into its opposite, the equality operator, and various methods giving the opposite of a standard configuration, the distance between two standard configurations' positions or whether two such configurations verify some properties (parallelism, symmetry, alignment) or whether a point is in front of a standard configuration.

Author: Alexis Scheuer.

Version: 1.0

Examples:: Fwd.cpp, LengthFwd.cpp, TimeFwd.cpp, and wxGuiFwd.cpp.

Constructor & Destructor Documentation

iSeeML::rob::OrPtConfig::OrPtConfig ( )

inline

The default constructor should only be used for array initializations: it correspond to a default point with zero orientation.

See also: default constructor of iSeeML::geom::Point.

iSeeML::rob::OrPtConfig::OrPtConfig	(	const iSeeML::geom::Point &	P,
		const double &	theta
	)

inline

The main constructor.

Parameters

P	the position of the reference point,
theta	the orientation of the main axis, taken between - $\pi$ (excluded) and $\pi$ (included) modulo 2 $\pi$ .

See also: iSeeML::Object::mod2pi.

iSeeML::rob::OrPtConfig::OrPtConfig	(	const double &	x,
		const double &	y,
		const double &	theta
	)

inline

A usefull constructor.

Parameters

x	the first coordinate of the reference point,
y	the second coordinate of the reference point,
theta	the orientation of the main axis, taken between - $\pi$ (excluded) and $\pi$ (included) modulo 2 $\pi$ .

See also: main constructor of iSeeML::geom::Point, iSeeML::Object::mod2pi.

Member Function Documentation

double iSeeML::rob::OrPtConfig::algCoord ( const int i ) const

inlineprotectedvirtual

Description method, giving the coordinate of given index of the configuration (both coordinates of the position, then orientation).

Parameters

i	the index of the searched coordinate.

Precondition: the parameter is an index, and should be equal to one, two or three. If not, and ISEEML_CHECK_ORPT_CONFIG_PRECOND is defined (see CompilerFlags.h), an error is generated.

Returns: the double coordinate associated to the index if this one is between 1 and dimension, or 0.

See also: orientation, position, iSeeML::geom::Point::xCoord, iSeeML::geom::Point::yCoord.

Reimplemented from iSeeML::Object.

int iSeeML::rob::OrPtConfig::algDimension ( ) const

inlineprotectedvirtual

Description method, giving the dimension of the containing space (3) when this configuration is considered as an algebraic vector.

This representation is mainly used to define a unified writeTo. Dimension cannot be static, as it is virtual.

Reimplemented from iSeeML::Object.

iSeeML::Object& iSeeML::rob::OrPtConfig::clone ( ) const

inlinevirtual

Description method, giving a copy of the current configuration.

This clone is dynamically allocated (using default copy constructor), it has to be deleted later.

Returns: a copy/clone of the current configuration.

Implements iSeeML::Object.

double iSeeML::rob::OrPtConfig::distance2 ( const OrPtConfig & other ) const

inline

Various method, giving the distance between two oriented points' positions.

Note : this is the standard 2-dimensional plane distance, instead of being a distance in the 3-dimensional space of the oriented points. Its name comes from this fact.

Parameters

other another oriented point.

Returns: the distance between the oriented points' positions.

See also: position, iSeeML::geom::Point::distance.

bool iSeeML::rob::OrPtConfig::hasInFront ( const iSeeML::geom::Point & point ) const

inline

Various method, checking whether a point is in the front half-plane of the current oriented point: the vector connecting the current oriented point's position to the given point should make an angle between - $\pi$ / 2 and $\pi$ / 2 with the current oriented point's orientation.

The vector going from the oriented point's position to the point and the vector of same orientation as the oriented point should have a positive scalar product.

Parameters

point a point.

Returns: whether the given point is in the front half-plane of the current oriented point.

See also: position, orientation, iSeeML::geom::Point::operator-, iSeeML::geom::Vector::operator*(const Vector&).

bool iSeeML::rob::OrPtConfig::isAlignedWith ( const OrPtConfig & other ) const

inline

Various method, checking whether two oriented points are aligned: their orientations should be equal, and be the same as the orientation of the segment connecting their positions.

In fact, the oriented points are aligned iff they are simultaneously parallel and symmetric.

Parameters

other another oriented point.

Returns: whether the current oriented point and the given one are aligned.

See also: isParallelTo, isSymmetricTo.

bool iSeeML::rob::OrPtConfig::isParallelTo ( const OrPtConfig & other ) const

inline

Various method, checking whether two oriented points are parallel, ie whether their orientations are equal (modulo 2 $pi$ ).

Parameters

other another oriented point.

Returns: whether the current oriented point and the given one have same orientation.

See also: orientation, iSeeML::Object::mod2pi, iSeeML::Object::isZero.

bool iSeeML::rob::OrPtConfig::isSymmetricTo ( const OrPtConfig & other ) const

inline

Various method, checking whether two oriented points are symmetric, ie whether their orientations are symmetric wrt the line segment connecting their position.

The vector connecting the positions and the vector of average orientation should be collinear: their vectorial product should be zero.

Parameters

other another oriented point.

Returns: whether the current oriented point and the given one are symmetric.

See also: position, orientation, iSeeML::geom::Vector::operator^, iSeeML::Object::isZero.

OrPtConfig iSeeML::rob::OrPtConfig::operator+ ( const OrPtConfig & other ) const

inline

Addition operator between oriented points: gives the oriented point obtained when the second oriented point is considered in the first's frame.

If R = P + Q, Q = P.projection(R).

Parameters

other the second oriented point.

Returns: the oriented point whose projection in the first oriented point's frame is the second oriented point.

See also: OrPtConfig projection(const OrPtConfig&).

void iSeeML::rob::OrPtConfig::operator+= ( const OrPtConfig & other )

inline

Adds an oriente point to the current one: gives the oriented point obtained when the added oriented point is considered in the current's frame.

If R = P + Q, Q = P.projection(R).

Parameters

other the second oriented point.

See also: operator+.

bool iSeeML::rob::OrPtConfig::operator== ( const OrPtConfig & other ) const

inline

Equality operator between oriented points.

Parameters

other another oriented point.

Returns: whether the two points are equal (same position and orientation).

See also: position, iSeeML::geom::Point::operator==, isParallelTo.

OrPtConfig iSeeML::rob::OrPtConfig::opposite ( ) const

inline

Various method, giving the opposite oriented point of the current one: the opposite oriented point has the same position but opposite orientation (current oriented point's orientation $\pm$ $\pi$ ).

Returns: the opposite oriented point of the current one.

See also: uTurn.

const double& iSeeML::rob::OrPtConfig::orientation ( ) const

inline

Description method, giving the orientation of the robot's main axis in this configuration.

Returns: the orientation of the main axis.

Examples:: wxGuiFwd.cpp.

const iSeeML::geom::Point& iSeeML::rob::OrPtConfig::position ( ) const

inline

Description method, giving the position of the robot's reference point in this configuration.

Returns: the position of the reference point.

Examples:: wxGuiFwd.cpp.

iSeeML::geom::Vector iSeeML::rob::OrPtConfig::projection ( const iSeeML::geom::Point & P ) const

inline

Gives the projection of a point in the frame of this configuration.

Parameters

P	the point projected into this configuration's frame.

Returns: the vector from the origin to the projected point.

See also: iSeeML::geom::Point::operator-(const iSeeML::geom::Point&), iSeeML::geom::Vector::rotate, position, orientation.

OrPtConfig iSeeML::rob::OrPtConfig::projection ( const OrPtConfig & q ) const

inline

Projects a configuration in the frame of this configuration.

If R = P.projection(Q), then Q = P + R.

Parameters

q	the configuration projected into this configuration's frame.

Returns: the new configuration, once projected.

See also: OrPtConfig(const iSeeML::geom::Point&, const double&), position, projection(const iSeeML::geom::Point&), orientation, operator+.

OrPtConfig& iSeeML::rob::OrPtConfig::uTurn ( )

inline

Modification method, turning the current oriented point to its opposite: the position does not change but the orientation is replaced by its opposite ( $\pm$ $\pi$ is added to it).

Returns: the new oriented point, one transformed to its opposite.

void iSeeML::rob::OrPtConfig::writeTo ( ostream & O ) const

inlinevirtual

Description method, writing the configuration in a given output stream: coordinate in each dimension is written, between paranthesis and separated by commas.

Parameters