Class BoxBoundary

java.lang.Object
  BoxBoundary

All Implemented Interfaces:

IBoundary

public class BoxBoundary
extends java.lang.Object
implements IBoundary

An n-dimensional box, the simplest possible boundary environment for robots.

Since:

1.0

Nested Class Summary

class

BoxBoundary.DimensionMismatchException Indicates that box boundaries were set with mismatched dimensionality.

Constructor Summary

BoxBoundary()
Constructor -- box dimensions specified elsewhere

BoxBoundary(double[] arrLfMin, double[] arrLfMax)
Constructor -- specifies dimensions and extents of box

Method Summary

double[]	bboxMaxCorner() gets bounding box max corner
double[]	bboxMinCorner() gets bounding box min corner
double[]	closestBoundaryPoint(double[] arrPoint) Finds the closest point on the boundary to a given point, or a minimally close point if multiple such points exist.
double	distToBoundary(double[] arrRayOrigin, double[] arrRayDir) Finds distance to boundary along a ray from a start point, returns negative number if outside boundary
int	getNumDimensions() Mostly just a safety check, since the environment should have this anyway
boolean	isPointInside(double[] arrPoint) Inside / outside query.
void	setFromCenterAndExtents(double[] arrLfCenter, double[] arrLfExtents) Sets box boundaries from center and box extents.
void	setFromMinMax(double[] arrLfMin, double[] arrLfMax) Sets box boundaries from min and max coordinates

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BoxBoundary

public BoxBoundary()

Constructor -- box dimensions specified elsewhere

BoxBoundary

public BoxBoundary(double[] arrLfMin,
                   double[] arrLfMax)

Constructor -- specifies dimensions and extents of box

Method Detail

bboxMinCorner

public double[] bboxMinCorner()

gets bounding box min corner

Specified by:

bboxMinCorner in interface IBoundary

Returns:

min corner of bounding box

bboxMaxCorner

public double[] bboxMaxCorner()

gets bounding box max corner

Specified by:

bboxMaxCorner in interface IBoundary

Returns:

max corner of bounding box

getNumDimensions

public int getNumDimensions()

Mostly just a safety check, since the environment should have this anyway

Specified by:

getNumDimensions in interface IBoundary

isPointInside

public boolean isPointInside(double[] arrPoint)

Inside / outside query.

Specified by:

isPointInside in interface IBoundary

distToBoundary

public double distToBoundary(double[] arrRayOrigin,
                             double[] arrRayDir)

Finds distance to boundary along a ray from a start point, returns negative number if outside boundary

Specified by:

distToBoundary in interface IBoundary

Parameters:

arrRayOrigin - origin of ray

arrRayDir - direction of ray

Returns:

distance along arrRayDir from arrRayOrigin to boundary, negative if arrRayOrigin is outside boundary

closestBoundaryPoint

public double[] closestBoundaryPoint(double[] arrPoint)

Finds the closest point on the boundary to a given point, or a minimally close point if multiple such points exist.

Specified by:

closestBoundaryPoint in interface IBoundary

Parameters:

arrPoint - point to find closest point to

Returns:

closest point to arrPoint

setFromMinMax

public void setFromMinMax(double[] arrLfMin,
                          double[] arrLfMax)

Sets box boundaries from min and max coordinates

setFromCenterAndExtents

public void setFromCenterAndExtents(double[] arrLfCenter,
                                    double[] arrLfExtents)

Sets box boundaries from center and box extents. Box extents are from center to corner