Class ConfigurationSpace
java.lang.Object
ConfigurationSpace
- 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!
| Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
cSpaceObstacles
private java.util.LinkedList cSpaceObstacles
robotCSpacePoint
private java.awt.Point robotCSpacePoint
ConfigurationSpace
public ConfigurationSpace(Map map)
- Parameters:
map -
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: