jafar::simu::Environment Class Reference

A basic environment containing a collection of points and segments and a robot. More...

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Detailed Description

A basic environment containing a collection of points and segments and a robot.

Definition at line 98 of file environment.hpp.

#include <environment.hpp>

List of all members.

Public Types
typedef std::list< Point >	PointsListType
typedef std::list< Segment >	SegmentsListType
Public Member Functions
	Environment (const jblas::vec &xMin_, const jblas::vec &xMax_, double segLengthMin_=1.0, double segLengthMax_=3.0, unsigned int randomSeedPt=1, unsigned int randomSeedSeg=1)
void	addRobot (Robot *robot_)
unsigned int	addPoint (jblas::vec const &feature_)
unsigned int	addPoint (double x, double y, double z)
unsigned int	addPersistentPoint (double x, double y, double z)
unsigned int	addSegment (double x1, double y1, double z1, double x2, double y2, double z2)
void	addPoints (const std::list< geom::Point3D > &points)
void	addSegments (const std::list< geom::Segment3D > &segments)
void	addRandomPoints (int nb_=1)
void	addRandomSegments (int nb_=1)
void	addAlignedPoints (const jblas::vec &x1_, const jblas::vec &x2_, int nbFeatures_, bool bothExt_=true)
const std::list< Point > &	getPointsList () const
const std::list< Segment > &	getSegmentsList () const
std::list< geom::Segment3D >	getSegments3DList () const
std::list< geom::Segment3D >	getSegments3DNear (double x, double y, double z, double distance, const jblas::bounded_symmetric_matrix< double, 4 > *cov1=0, const jblas::bounded_symmetric_matrix< double, 4 > *cov2=0, const jblas::mat44 *M=0, jmath::NormalDistribution *normalDist=0)
	Get the list of segments close to a point.
std::string	getPointsTclList () const
std::string	getSegmentsTclList () const
Public Attributes
jblas::vec	xMin
jblas::vec	xMax
PointsListType	pointsList
PointsListType	persistenPointsList
SegmentsListType	segmentsList
Protected Member Functions
unsigned int	generateId ()
Protected Attributes
std::vector< Robot * >	robots
PointFactory	pointFactory
SegmentFactory	segmentFactory
unsigned int	idFactory
Friends
std::ostream &	operator<< (std::ostream &s, const Environment &e_)

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Member Function Documentation

std::list<geom::Segment3D> jafar::simu::Environment::getSegments3DNear	(	double	x,
		double	y,
		double	z,
		double	distance,
		const jblas::bounded_symmetric_matrix< double, 4 > *	cov1 = 0,
		const jblas::bounded_symmetric_matrix< double, 4 > *	cov2 = 0,
		const jblas::mat44 *	M = 0,
		jmath::NormalDistribution *	normalDist = 0
	)

Get the list of segments close to a point.

Parameters:

x	y z coordinate of the point
distance	to the point

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

• modules/simu/include/simu/environment.hpp