Class ConfigurationSpace

java.lang.Object
  extended byConfigurationSpace

public class ConfigurationSpace
extends java.lang.Object

Welcome to the configuration space class! There is a decent amount of experiementing with the java polygon class and with arrays..yucky..but i had fun!


Field Summary
private  java.util.LinkedList cSpaceObstacles
           
private  java.awt.Point robotCSpacePoint
           
 
Constructor Summary
ConfigurationSpace(Map map)
           
 
Method Summary
 void addCSpaceObstacle(java.awt.Polygon p)
           
 void ConfigurationSpaceTest()
           
static java.awt.Point[] convexHull(java.awt.Point[] points)
           
 java.util.LinkedList getCSpaceObstacles()
           
static java.lang.String indexOf(java.awt.Point[] points, java.awt.Point point)
           
static void main(java.lang.String[] args)
           
static java.awt.Point[] makePointArray(java.util.Collection c)
           
static java.awt.Polygon[] makePolygonArray(java.util.Collection c)
           
 java.awt.Point[] minkowskiSumRobotSquare(java.awt.Point[] obstacleVertices, java.awt.Rectangle robotSquare)
           
static java.awt.Polygon pointArrayToPolygon(java.awt.Point[] points)
           
static java.awt.Point[] polygonToPointArray(java.awt.Polygon poly)
           
static void printArray(java.awt.Point[] srcArray, java.awt.Point[] array)
           
static void printPointArray(java.awt.Point[] srcArray)
           
static java.awt.Point[] removeDuplicatePoints(java.awt.Point[] dup)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

cSpaceObstacles

private java.util.LinkedList cSpaceObstacles

robotCSpacePoint

private java.awt.Point robotCSpacePoint
Constructor Detail

ConfigurationSpace

public ConfigurationSpace(Map map)
Parameters:
map -
Method Detail

main

public static void main(java.lang.String[] args)
Parameters:
args -

addCSpaceObstacle

public void addCSpaceObstacle(java.awt.Polygon p)
Parameters:
p -

removeDuplicatePoints

public static java.awt.Point[] removeDuplicatePoints(java.awt.Point[] dup)
Parameters:
dup -
Returns:

ConfigurationSpaceTest

public void ConfigurationSpaceTest()

getCSpaceObstacles

public java.util.LinkedList getCSpaceObstacles()
Returns:

minkowskiSumRobotSquare

public java.awt.Point[] minkowskiSumRobotSquare(java.awt.Point[] obstacleVertices,
                                                java.awt.Rectangle robotSquare)
Parameters:
obstacleVertices -
robotSquare -
Returns:

convexHull

public static java.awt.Point[] convexHull(java.awt.Point[] points)
Parameters:
points -

printArray

public static void printArray(java.awt.Point[] srcArray,
                              java.awt.Point[] array)
Parameters:
srcArray -
array -

printPointArray

public static void printPointArray(java.awt.Point[] srcArray)
Parameters:
srcArray -

makePointArray

public static java.awt.Point[] makePointArray(java.util.Collection c)
Parameters:
c -
Returns:

makePolygonArray

public static java.awt.Polygon[] makePolygonArray(java.util.Collection c)
Parameters:
c -
Returns:

indexOf

public static java.lang.String indexOf(java.awt.Point[] points,
                                       java.awt.Point point)
Parameters:
points -
point -
Returns:

polygonToPointArray

public static java.awt.Point[] polygonToPointArray(java.awt.Polygon poly)
Parameters:
poly -
Returns:

pointArrayToPolygon

public static java.awt.Polygon pointArrayToPolygon(java.awt.Point[] points)
Parameters:
points -
Returns: