GlobalNavigation
Class CSpace

java.lang.Object
  GlobalNavigation.CSpace

public class CSpace
extends java.lang.Object

Simple configuration space.

Each real obstacle is expanded to a CS obstacle by computing the convex hull of the Minkowski sum of the real obstacle and a square circumscribed on the robot bounding disc.

Field Summary

protected java.util.LinkedList<PolygonObstacle>

obstacles The CS obstacles.

Constructor Summary

CSpace(java.util.List<PolygonObstacle> realObstacles, double robotRadius)
Compute a new CSpace.

Method Summary

java.util.List<PolygonObstacle>	getObstacles() Get obstacles.
protected PolygonObstacle	makeCSObstacle(PolygonObstacle realObstacle, double robotRadius) Make a CS obstacle.

Methods inherited from class java.lang.Object

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

Field Detail

obstacles

protected java.util.LinkedList<PolygonObstacle> obstacles

The CS obstacles.

Constructor Detail

CSpace

public CSpace(java.util.List<PolygonObstacle> realObstacles,
              double robotRadius)

Compute a new CSpace.

Parameters:

realObstacles - the set of real obstacles

robotRadius - the robot disc radius

Method Detail

getObstacles

public java.util.List<PolygonObstacle> getObstacles()

Get obstacles.

Returns:

a reference to obstacles

makeCSObstacle

protected PolygonObstacle makeCSObstacle(PolygonObstacle realObstacle,
                                         double robotRadius)

Make a CS obstacle.

Parameters:

realObstacle - the corresp real obstacle

robotRadius - the robot bounding disc radius (m)