VectorField Class Reference

Inheritance diagram for VectorField:

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Collaboration diagram for VectorField:

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List of all members.

Public Member Functions
	VectorField (OptionManager &mgr, const std::string &descrName="VectorField", const std::string &tagName="VectorField", const int width=300, const int height=300)
	Default constructor; see ModelComponent.H.
	VectorField (Image< geom::vec2f > afield)
	constructor from field
	~VectorField ()
	Destructor.
Image< geom::vec2f >	getField ()
	getField() -- returns the current vector field.
virtual Image< PixRGB< byte > >	updateField (std::vector< Point2D< float > > sensorData, Point2D< int > robotPos, float robotOrient, Point2D< int > goal)
Image< PixRGB< byte > >	plotField (int spacing)
	plotField() -- plot the current vector Field.
Image< PixRGB< byte > >	plotGridField (int spacing)
	plotGridField() -- plot the current vector Field.
geom::vec2f	getVectorAt (Point2D< int > location)
	getVectorAt() -- get the vector at current robot location
void	setVectorAt (Point2D< int > location, geom::vec2f val)
	setVectorAt() -- get the vector at current robot location
void	scaleFieldBy (float factor)
	scaleFieldby -- scale vector field by factor
void	scaleGoalFieldBy (float factor)
	scaleGoalFieldby -- scale Goal vector field by factor
void	makeUnitLength ()
	make unit length -- set all vectors in vector field to fixed length
void	normalizeTo (float maxFactor)
	normalizeTo -- normalize to a max factor
void	rotateField (float ang)
	rotateField -- rotate the vector field by some angle
void	rotateGoalField (float ang)
	rotateGoalField -- rotate the vector field by some angle
Protected Attributes
Image< geom::vec2f >	itsField
Image< geom::vec2f >	itsGoalField
std::vector< Point2D< float > >	itsSensorData
Point2D< int >	itsRobotPos
float	itsRobotOrientation
Point2D< float >	itsGoal
Dims	itsDims

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Detailed Description

Definition at line 51 of file VectorField.H.

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Constructor & Destructor Documentation

VectorField::VectorField	(	OptionManager &	mgr,
		const std::string &	descrName = "VectorField",
		const std::string &	tagName = "VectorField",
		const int	width = 300,
		const int	height = 300
	)

Default constructor; see ModelComponent.H.

Definition at line 47 of file VectorField.C.

References Image< T >::clear(), and NO_INIT.

VectorField::VectorField

(

Image< geom::vec2f >

afield

)

[inline]

constructor from field

Definition at line 61 of file VectorField.H.

References Image< T >::getDims().

VectorField::~VectorField

(

)

Destructor.

Definition at line 65 of file VectorField.C.

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Member Function Documentation

Image< geom::vec2f > VectorField::getField

(

)

getField() -- returns the current vector field.

Definition at line 69 of file VectorField.C.

geom::vec2f VectorField::getVectorAt

(

Point2D< int >

location

)

getVectorAt() -- get the vector at current robot location

Definition at line 181 of file VectorField.C.

References Image< T >::getVal(), and Point2D< T >::i.

void VectorField::makeUnitLength

(

)

make unit length -- set all vectors in vector field to fixed length

Definition at line 223 of file VectorField.C.

References Image< T >::beginw(), and Image< T >::end().

void VectorField::normalizeTo

(

float

maxFactor

)

normalizeTo -- normalize to a max factor

Definition at line 236 of file VectorField.C.

References Image< T >::beginw(), and Image< T >::end().

Image< PixRGB< byte > > VectorField::plotField

(

int

spacing

)

plotField() -- plot the current vector Field.

Definition at line 76 of file VectorField.C.

References Image< T >::beginw(), drawDisk(), Image< T >::endw(), Dims::h(), Point2D< T >::i, Dims::w(), and ZEROS.

Image< PixRGB< byte > > VectorField::plotGridField

(

int

spacing

)

plotGridField() -- plot the current vector Field.

Definition at line 125 of file VectorField.C.

References Image< T >::beginw(), drawCircle(), drawDisk(), Image< T >::endw(), Dims::h(), Point2D< T >::i, Dims::w(), and ZEROS.

void VectorField::rotateField

(

float

ang

)

rotateField -- rotate the vector field by some angle

Definition at line 250 of file VectorField.C.

References Image< T >::beginw(), Image< T >::end(), Point2D< T >::i, and rotate().

void VectorField::rotateGoalField

(

float

ang

)

rotateGoalField -- rotate the vector field by some angle

Definition at line 270 of file VectorField.C.

References Image< T >::beginw(), and Image< T >::end().

Referenced by VectorHistField::updateField().

void VectorField::scaleFieldBy

(

float

factor

)

scaleFieldby -- scale vector field by factor

scaleby -- scale vector field by factor

Definition at line 197 of file VectorField.C.

References Image< T >::beginw(), and Image< T >::end().

Referenced by VectorHistField::updateField().

void VectorField::scaleGoalFieldBy

(

float

factor

)

scaleGoalFieldby -- scale Goal vector field by factor

scaleby -- scale vector field by factor

Definition at line 212 of file VectorField.C.

References Image< T >::beginw(), and Image< T >::end().

Referenced by VectorHistField::updateField().

void VectorField::setVectorAt	(	Point2D< int >	location,
		geom::vec2f	val
	)

setVectorAt() -- get the vector at current robot location

Definition at line 188 of file VectorField.C.

References Point2D< T >::i, and Image< T >::setVal().

virtual Image<PixRGB<byte> > VectorField::updateField	(	std::vector< Point2D< float > >	sensorData,
		Point2D< int >	robotPos,
		float	robotOrient,
		Point2D< int >	goal
	)			[inline, virtual]

updateField() -- update the current field based on some sensor data of type Point2D<int> a; where a.i = distance a.j=angle of obstacle since this can be pretty implementation specific we keep this virtual so that different algorithms can implement their own implementation of this method.

Definition at line 78 of file VectorField.H.

References ZEROS.

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The documentation for this class was generated from the following files:

• src/Image/VectorField.H
• src/Image/VectorField.C