conscience_core::bridging::commands::CommandPathCutEntityDeplacements Class Reference

#include <CommandPathCutEntityDeplacements.h>

Inheritance diagram for conscience_core::bridging::commands::CommandPathCutEntityDeplacements:

Public Member Functions
	CommandPathCutEntityDeplacements (vector< PathSegmentCommandDataType * > *paths)
	Constructs a CommandPathCutEntityDeplacements instance with a list of path segments. More...
	~CommandPathCutEntityDeplacements ()
Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
const CscCommandExecutionResult *	_execute (CscEnvironmentSimulator &environmentSimulator)
template<class TResult = CscCommandExecutionResult>
const TResult *	execute (CscEnvironmentSimulator &environmentSimulator)
const CommandTypeId &	getTypeId () const
virtual	~CscCommand ()
void	setOriginalCommandString (string command)

Static Public Attributes
static const CommandTypeId	COMMAND_ID = "PATH_CUT_ENTITY_DEPLACEMENTS"

Protected Member Functions
CscCommandExecutionResultList< PathSegmentCommandDataType > *	doExecute (CscEnvironmentSimulator &environmentSimulator) override
ptr< CscEntityReflexion >	getEntityReflexion () const override
CscPoint3d *	findIntersection (PathSegmentCommandDataType *pathA, PathSegmentCommandDataType *pathB)
SegmentMargins	getOffsetPath (PathSegmentCommandDataType &path, double width, double extensionStart=0, double extensionEnd=0)
vector< PathSegmentCommandDataType * >	cutPathsWithOffset (const vector< PathSegmentCommandDataType * > &pathsToCut, PathSegmentCommandDataType *offsetLeft, PathSegmentCommandDataType *offsetRight)
bool	isBetweenPath (PathSegmentCommandDataType *segment, PathSegmentCommandDataType *leftBound, PathSegmentCommandDataType *rightBound, double maxDistance)
double	signedAngleBetweenPaths (const PathSegmentCommandDataType *path1, const PathSegmentCommandDataType *path2)
double	calculateAngleBetweenTwoPosition (CscPoint3d *firstPosition, CscPoint3d *secondPosition)
Protected Member Functions inherited from conscience_core::bridging::commands::CscCommand
	CscCommand (const CommandTypeId &typeId)
const CscCommandExecutionResultNone *	resultNone ()
const CscCommandExecutionResultSequence *	resultSequence (CscSequence *sequence, const string &entitySerialNumber, bool doNotPlay=false)
const CscCommandExecutionResultFile *	resultFile (const fs::path &resultingFilePath)
template<class TResult >
const CscCommandExecutionResultObject< TResult > *	resultObject (TResult *result)
const CscWorldElementId	getEntityId () const

Protected Attributes
const double	WIDTH_OFFSET_IN_CENTIMETER = 25
const double	LENGTH_END_OFFSET_FOR_PATH_IN_CENTIMETER = 40
const double	LENGTH_START_OFFSET_FOR_IN_CENTIMETER = 10
const double	LENGTH_OFFSET_FOR_TRANSITION_IN_CENTIMETER = 100
const double	MIN_DISTANCE_FOR_SAME_POINT_IN_CM = 2
const double	MAX_ANGLE_FOR_TRANSITION_IN_DEGREES = 20
vector< PathSegmentCommandDataType * > *	paths
std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CommandPathCutEntityDeplacements")
Protected Attributes inherited from conscience_core::bridging::commands::CscCommand
const CommandTypeId	typeId
optional< string >	originalCommandString = {}

Additional Inherited Members
Public Types inherited from conscience_core::bridging::commands::CscCommand
typedef function< void(CscCommand *command)>	CommandExecutedListener
Static Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
static void	addCommandExecutedListener (CommandExecutedListener listener)

Detailed Description

Trims the input paths to remove segments where the robot passes over the same area again.

Constructor & Destructor Documentation

CommandPathCutEntityDeplacements()

conscience_core::bridging::commands::CommandPathCutEntityDeplacements::CommandPathCutEntityDeplacements

(

vector< PathSegmentCommandDataType * > *

paths

)

Constructs a CommandPathCutEntityDeplacements instance with a list of path segments.

Parameters

paths

A pointer to a vector of pointers to PathSegmentCommandDataType objects. Each element represents a segment of the path along which the entity will be processed.

~CommandPathCutEntityDeplacements()

conscience_core::bridging::commands::CommandPathCutEntityDeplacements::~CommandPathCutEntityDeplacements

(

)

Member Function Documentation

calculateAngleBetweenTwoPosition()

double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::calculateAngleBetweenTwoPosition ( CscPoint3d *  secondPosition, CscPoint3d *  firstPosition  )

protected

This method tests whether both endpoints of the given path segment lie within the quadrilateral formed by the start and end points of the left and right boundary segments, with a tolerance (epsilon) to account for numerical imprecision.

cutPathsWithOffset()

vector< PathSegmentCommandDataType * > conscience_core::bridging::commands::CommandPathCutEntityDeplacements::cutPathsWithOffset ( const vector< PathSegmentCommandDataType * > &  pathsToCut, PathSegmentCommandDataType *  offsetLeft, PathSegmentCommandDataType *  offsetRight  )

protected

doExecute()

CscCommandExecutionResultList< PathSegmentCommandDataType > * conscience_core::bridging::commands::CommandPathCutEntityDeplacements::doExecute ( CscEnvironmentSimulator &  environmentSimulator )

overrideprotectedvirtual

Implements conscience_core::bridging::commands::CscCommand.

findIntersection()

CscPoint3d * conscience_core::bridging::commands::CommandPathCutEntityDeplacements::findIntersection ( PathSegmentCommandDataType *  pathA, PathSegmentCommandDataType *  pathB  )

protected

getEntityReflexion()

ptr< CscEntityReflexion > conscience_core::bridging::commands::CommandPathCutEntityDeplacements::getEntityReflexion ( ) const

overrideprotectedvirtual

return entity reflexion if this command applies on an entityReflexion, otherwise return nullptr

Implements conscience_core::bridging::commands::CscCommand.

getOffsetPath()

SegmentMargins conscience_core::bridging::commands::CommandPathCutEntityDeplacements::getOffsetPath ( PathSegmentCommandDataType &  path, double  width, double  extensionStart = 0, double  extensionEnd = 0  )

protected

isBetweenPath()

bool conscience_core::bridging::commands::CommandPathCutEntityDeplacements::isBetweenPath ( PathSegmentCommandDataType *  segment, PathSegmentCommandDataType *  leftBound, PathSegmentCommandDataType *  rightBound, double  maxDistance  )

protected

signedAngleBetweenPaths()

double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::signedAngleBetweenPaths ( const PathSegmentCommandDataType *  path1, const PathSegmentCommandDataType *  path2  )

protected

Member Data Documentation

COMMAND_ID

const CommandTypeId conscience_core::bridging::commands::CommandPathCutEntityDeplacements::COMMAND_ID = "PATH_CUT_ENTITY_DEPLACEMENTS"

inlinestatic

LENGTH_END_OFFSET_FOR_PATH_IN_CENTIMETER

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::LENGTH_END_OFFSET_FOR_PATH_IN_CENTIMETER = 40

protected

LENGTH_OFFSET_FOR_TRANSITION_IN_CENTIMETER

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::LENGTH_OFFSET_FOR_TRANSITION_IN_CENTIMETER = 100

protected

LENGTH_START_OFFSET_FOR_IN_CENTIMETER

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::LENGTH_START_OFFSET_FOR_IN_CENTIMETER = 10

protected

logger

std::unique_ptr<CscLogger> conscience_core::bridging::commands::CommandPathCutEntityDeplacements::logger = CscLogger::getForCategory("CommandPathCutEntityDeplacements")

protected

MAX_ANGLE_FOR_TRANSITION_IN_DEGREES

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::MAX_ANGLE_FOR_TRANSITION_IN_DEGREES = 20

protected

MIN_DISTANCE_FOR_SAME_POINT_IN_CM

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::MIN_DISTANCE_FOR_SAME_POINT_IN_CM = 2

protected

paths

vector<PathSegmentCommandDataType *>* conscience_core::bridging::commands::CommandPathCutEntityDeplacements::paths

protected

WIDTH_OFFSET_IN_CENTIMETER

const double conscience_core::bridging::commands::CommandPathCutEntityDeplacements::WIDTH_OFFSET_IN_CENTIMETER = 25

protected

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

• Bridging/EnvironmentInteractionCommands/CommandPathCutEntityDeplacements.h
• Bridging/EnvironmentInteractionCommands/CommandPathCutEntityDeplacements.cpp