A class wrapping a PhyObject to add methods suitable for wheeled robots simulations. More...

Inheritance diagram for PhyObject2DWrapper:

Classes
class	AngularRangeAndColor
	The structure with angular range and color used by the computeLinearViewFieldOccupiedRange() function. More...

Public Types
enum	Type { Plane = 0, Wall, Box, RectangularTargetArea, Cylinder, SmallCylinder, BigCylinder, CircularTargetArea, LightBulb, WheeledRobot, NumberOfDifferentTypes }
	The possible type of wrapped objects. More...

Public Member Functions
QColor	color () const
	Returns the color to use when rendering this. More...

virtual bool	computeDistanceAndOrientationFromRobot (const WheeledRobot2DWrapper &robot, double &distance, double &angle) const =0
	Computes the distance and orientation of this object respect to the given robot. More...

virtual void	computeLinearViewFieldOccupiedRange (const wMatrix &mtr, QVector< AngularRangeAndColor > &rangesAndColors, double &distance, double maxDistance) const =0
	Computes the portion of a linear the view field occupied by this object. More...

bool	getKinematic () const
	Returns true if the object has kinematic behaviour. More...

bool	getStatic () const
	Returns true if the object is static. More...

virtual PhyObject *	phyObject ()=0
	Returns a pointer to the wrapped PhyObject. More...

virtual const PhyObject *	phyObject () const =0
	Returns a pointer to the wrapped PhyObject (const version) More...

wVector	position () const
	Returns the position of the object. More...

const wMatrix &	previousMatrix () const
	Returns the transformation matrix of the previous time-step. More...

void	setColor (QColor color)
	Sets the color to use when rendering this. More...

virtual void	setKinematic (bool b, bool c=false)
	Sets whether the object is kinematic or not. More...

void	setPosition (wVector pos)
	Sets the position of the object in the plane. More...

virtual void	setPosition (real x, real y)=0
	Sets the position of the object in the plane. More...

virtual void	setStatic (bool s)
	Sets whether the object is static or not. More...

void	setTexture (QString textureName)
	Set the texture to use when rendering this. More...

void	setUseColorTextureOfOwner (bool b)
	Sets whether this will be rendered with the color and texture of our owner (if we have one) More...

void	storePreviousMatrix ()
	Stores the current matrix in the previousMatrix. More...

QString	texture () const
	Returns the name of the texture. More...

virtual Type	type () const =0
	Returns the type of this wrapper object. More...

bool	useColorTextureOfOwner () const
	Returns whether this will be rendered with the color and texture of the owner (if we have one) More...

virtual WObject *	wObject ()
	Returns a pointer to the wrapped object. More...

virtual const WObject *	wObject () const
	Returns a pointer to the wrapped object (const version) More...

Protected Member Functions
	PhyObject2DWrapper (Arena *arena)
	Constructor. More...

virtual	~PhyObject2DWrapper ()
	Destructor. More...

Protected Attributes
Arena *const	m_arena
	The pointer to the arena in which this object lives. More...

Friends
class	Arena
	The Arena class is friend to be able to instantiate and delete this class. More...

Detailed Description

A class wrapping a PhyObject to add methods suitable for wheeled robots simulations.

This class wraps a PhyObject and adds methods which should be used when doing wheeled robots simulations to ensure everything works well. Objects cannot be instantiated directly, they are returned by functions of the Arena class

Definition at line 51 of file wheeledexperimenthelper.h.

Member Enumeration Documentation

enum Type

The possible type of wrapped objects.

Definition at line 57 of file wheeledexperimenthelper.h.

Constructor & Destructor Documentation

PhyObject2DWrapper ( Arena * arena )

protected

Constructor.

Parameters

arena the arena in which this object lives

Definition at line 392 of file wheeledexperimenthelper.cpp.

~PhyObject2DWrapper ( )

protectedvirtual

Destructor.

Definition at line 399 of file wheeledexperimenthelper.cpp.

Member Function Documentation

QColor color ( ) const

Returns the color to use when rendering this.

Returns: the color to use when rendering this

Definition at line 471 of file wheeledexperimenthelper.cpp.

References WObject::color(), and PhyObject2DWrapper::wObject().

Referenced by Box2DWrapper::computeLinearViewFieldOccupiedRange().

virtual bool computeDistanceAndOrientationFromRobot	(	const WheeledRobot2DWrapper &	robot,
		double &	distance,
		double &	angle
	)		const

pure virtual

Computes the distance and orientation of this object respect to the given robot.

This function computes the distance of this object from the given robot. The distance is computed between the nearest points of the two objects. The robot is always modelled as a vertical cylindrical object. The function returns false if it makes no sense to compute the distance

Parameters

robot	the robot from which the distance should be computed
distance	the computed distance
angle	the computed orientation

Returns: false if the distance couldn't be computed

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

Referenced by KheperaSampledProximityIRSensor::update(), KheperaSampledLightSensor::update(), EpuckSampledProximityIRSensor::update(), and MarXbotSampledProximityIRSensor::update().

virtual void computeLinearViewFieldOccupiedRange	(	const wMatrix &	mtr,
		QVector< AngularRangeAndColor > &	rangesAndColors,
		double &	distance,
		double	maxDistance
	)		const

pure virtual

Computes the portion of a linear the view field occupied by this object.

This function must be implemented in subclasses to return the angular range occupied by the object on a linear camera described by the given matrix. Each of the range in the list has its own color. The Z axis of the matrix is the upvector, the camera lies on the XY plane and points towars the X axis (i.e. angles start from the X axis). If the object is not visible by the camera, this function returns a negative distance. The min angle can be greater than the max angle in a range if the object is behind the camera.

Parameters

mtr	the matrix describing the camera (see function description)
rangesAndColors	the list of occupied ranges and their color
distance	this is set to the distance of the object from the camera. It is negative if the object is not visible by the camera
maxDistance	this is the maximum distance the camera can see. If the object is farther than this distance the function can safely return a negative distance (i.e. the object is not seen) and stop any other computation

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

bool getKinematic ( ) const

Returns true if the object has kinematic behaviour.

This function returns always true if the wrapped object is not a PhyObject (i.e. phyObject() returns NULL)

Returns: true if the object has kinematic behaviour

Definition at line 437 of file wheeledexperimenthelper.cpp.

References PhyObject::getKinematic(), and PhyObject2DWrapper::phyObject().

bool getStatic ( ) const

Returns true if the object is static.

This function returns always true if the wrapped object is not a PhyObject (i.e. phyObject() returns NULL)

Returns: true if the object is static (or if the wrapped object is not a phyObject)

Definition at line 421 of file wheeledexperimenthelper.cpp.

References PhyObject::getStatic(), and PhyObject2DWrapper::phyObject().

virtual PhyObject* phyObject ( )

pure virtual

Returns a pointer to the wrapped PhyObject.

You should avoid changing the PhyObject directly, use the methods of this class, instead. The returned pointer can be NULL if the wrapped object is not a phyObject

Returns: a pointer to the wrapped PhyObject

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

Referenced by Arena::delete2DObject(), PhyObject2DWrapper::getKinematic(), PhyObject2DWrapper::getStatic(), PhyObject2DWrapper::setKinematic(), PhyObject2DWrapper::setStatic(), and PhyObject2DWrapper::wObject().

virtual const PhyObject* phyObject ( ) const

pure virtual

Returns a pointer to the wrapped PhyObject (const version)

The returned pointer can be NULL if the wrapped object is not a phyObject

Returns: a const pointer to the wrapped PhyObject

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

wVector position ( ) const

Returns the position of the object.

Returns: the position of the object

Definition at line 451 of file wheeledexperimenthelper.cpp.

References WObject::matrix(), and PhyObject2DWrapper::wObject().

Referenced by Box2DWrapper::computeDistanceAndOrientationFromRobot(), Cylinder2DWrapper::computeDistanceAndOrientationFromRobot(), Sphere2DWrapper::computeDistanceAndOrientationFromRobot(), and WheeledRobot2DWrapper::computeDistanceAndOrientationFromRobot().

const wMatrix& previousMatrix ( ) const

inline

Returns the transformation matrix of the previous time-step.

Returns: the transformation matrix of the previous time-step

Definition at line 334 of file wheeledexperimenthelper.h.

void setColor ( QColor color )

Sets the color to use when rendering this.

Parameters

color the color to use when rendering this

Definition at line 466 of file wheeledexperimenthelper.cpp.

References WObject::setColor(), and PhyObject2DWrapper::wObject().

void setKinematic	(	bool	b,
		bool	c = `false`
	)

virtual

Sets whether the object is kinematic or not.

A kinematic object is not simulated by the physics simulator, but it can be taken into account in collisions by the arena. Not all type of objects can change between kinematic and dynamic

Parameters

b	if true the object is set to kinematic behaviour
c	if true the object collides with other objects even in kinematic mode, influencing them without being influenced (technically, we set its mass to 0 in Newton Game Dynamics engine)

Reimplemented in Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

Definition at line 430 of file wheeledexperimenthelper.cpp.

References PhyObject2DWrapper::phyObject(), and PhyObject::setKinematic().

Referenced by Box2DWrapper::setKinematic().

void setPosition ( wVector pos )

Sets the position of the object in the plane.

The Z coordinate is discarded. Not all type of objects can be moved

Parameters

pos	the new position (the z coordinate is discarded)

Definition at line 446 of file wheeledexperimenthelper.cpp.

virtual void setPosition	(	real	x,
		real	y
	)

pure virtual

Sets the position of the object in the plane.

Not all type of objects can be moved

Parameters

x	the new x coordinate
y	the new y coordinate

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

void setStatic ( bool s )

virtual

Sets whether the object is static or not.

Not all type of objects can change between static and dynamic. This function does nothing if the wrapped object is not a PhyObject (i.e. phyObject() returns NULL)

Parameters

s	if true the object will be static

Reimplemented in Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

Definition at line 414 of file wheeledexperimenthelper.cpp.

References PhyObject2DWrapper::phyObject(), and PhyObject::setStatic().

void setTexture ( QString textureName )

Set the texture to use when rendering this.

Parameters

textureName the name of the texture

Definition at line 456 of file wheeledexperimenthelper.cpp.

References WObject::setTexture(), and PhyObject2DWrapper::wObject().

Referenced by Arena::createWall().

void setUseColorTextureOfOwner ( bool b )

Sets whether this will be rendered with the color and texture of our owner (if we have one)

Parameters

b	if true we will use the color and texture of our owner (if we have one

Definition at line 476 of file wheeledexperimenthelper.cpp.

References WObject::setUseColorTextureOfOwner(), and PhyObject2DWrapper::wObject().

void storePreviousMatrix ( )

inline

Stores the current matrix in the previousMatrix.

Call this to update the value of m_previousMatrix

Definition at line 324 of file wheeledexperimenthelper.h.

QString texture ( ) const

Returns the name of the texture.

Returns: the name of the texture

Definition at line 461 of file wheeledexperimenthelper.cpp.

References WObject::texture(), and PhyObject2DWrapper::wObject().

virtual Type type ( ) const

pure virtual

Returns the type of this wrapper object.

The type is used by e.g. sensors

Returns: the type of this wrapper object

Implemented in WheeledRobot2DWrapper, Sphere2DWrapper, Cylinder2DWrapper, and Box2DWrapper.

Referenced by KheperaSampledProximityIRSensor::update(), KheperaSampledLightSensor::update(), EpuckSampledProximityIRSensor::update(), and MarXbotSampledProximityIRSensor::update().

bool useColorTextureOfOwner ( ) const

Returns whether this will be rendered with the color and texture of the owner (if we have one)

Returns: true if this will be rendered using the color and texture of our owner

Definition at line 481 of file wheeledexperimenthelper.cpp.

References WObject::useColorTextureOfOwner(), and PhyObject2DWrapper::wObject().

WObject * wObject ( )

virtual

Returns a pointer to the wrapped object.

You should avoid changing the wrapped directly, use the methods of this class, instead. The default implementation of this function simply calls phyObject()