|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectsk.robotics.rlcs.data.Collision
public class Collision
Collision object for given robot holds lists of nearby walls and robots, and has a method to check for collision in arbitrary directions. Collision objects are immutable.
Nested Class Summary | |
---|---|
static class |
Collision.CheckResult
Object to be returned by checkMove(). |
static class |
Collision.Wall
|
class |
Collision.XmlMappable
|
Field Summary | |
---|---|
static Collision |
ALL
Special "collision in all directions" object. |
Constructor Summary | |
---|---|
Collision(Position actualPos,
java.util.Collection<java.awt.geom.Line2D> walls,
java.util.Collection<Position> robots)
|
Method Summary | |
---|---|
Collision.CheckResult |
check(Movement.Direction direction,
double border)
Determine whether a movement would cause a collision. |
Collision.CheckResult |
check(Movement move,
double border)
Determine whether a movement would cause a collision. |
Collision.CheckResult |
checkMove(double direction,
double border)
Determine distance of closest obstacle in given direction. |
Collision.CheckResult |
checkMoveRel(double direction,
double border)
Similar like checkMove(), but takes relative direction, instead of absolute. |
double |
checkTurn(int direction)
Determine allowed angle to turn without collision. |
Position |
getActualPos()
|
Collision.XmlMappable |
getXmlMappable()
|
Collision.Wall |
line2wall(java.awt.geom.Line2D line)
|
Methods inherited from class java.lang.Object |
---|
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
---|
public static final Collision ALL
Constructor Detail |
---|
public Collision(Position actualPos, java.util.Collection<java.awt.geom.Line2D> walls, java.util.Collection<Position> robots)
Method Detail |
---|
public Position getActualPos()
public Collision.CheckResult checkMove(double direction, double border)
direction
- Direction to check for collision in, in radians.
public Collision.CheckResult checkMoveRel(double direction, double border)
public double checkTurn(int direction)
direction
- Turning direction, positive for CW, negative for CCW.
public Collision.CheckResult check(Movement.Direction direction, double border)
direction
- Movement direction: FD/BK/LT/RT.border
- Turtle border, included in collision computation.public Collision.CheckResult check(Movement move, double border)
move
- Movement command.border
- Turtle border, included in collision computation.public Collision.Wall line2wall(java.awt.geom.Line2D line)
public Collision.XmlMappable getXmlMappable()
getXmlMappable
in interface com.microstepmis.xplatform.CustomXmlMappable
|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |