A B C D E F G H I M N O P R S T V W

A

addPoly(List<Point2D.Double>, boolean, boolean, Color) - Method in class GlobalNavigation.MapGUI

Add a polygon for display.

addRect(double, double, double, double, boolean, Color) - Method in class GlobalNavigation.MapGUI

Add a rect for display.

addRect(Rectangle2D.Double, boolean, Color) - Method in class GlobalNavigation.MapGUI

Add a rect for display.

addVertex(Point2D) - Method in class GlobalNavigation.PolygonObstacle

Covers PolygonObstacle.addVertex(double, double).

addVertex(double, double) - Method in class GlobalNavigation.PolygonObstacle

Covers PolygonObstacle.addVertex(float, float).

addVertex(float, float) - Method in class GlobalNavigation.PolygonObstacle

Add a vertex to this polygon.

APPNAME - Static variable in class GlobalNavigation.GlobalNavigation

Name to use when run as an application.

APPNAME - Static variable in class GlobalNavigation.MapGUI

The application name.

APPNAME - Static variable in class GlobalNavigation.PolygonMap

Name to use when run as an application.

B

BumpListener - Class in GlobalNavigation

BumpListener(GlobalNavigation) - Constructor for class GlobalNavigation.BumpListener

bumpSub - Variable in class GlobalNavigation.GlobalNavigation

C

cell - Variable in class GlobalNavigation.Grid

The grid cells.

close() - Method in class GlobalNavigation.PolygonObstacle

Close this polygon.

closed - Variable in class GlobalNavigation.PolygonObstacle

Whether this polygon has been closed.

collectNeighbors(Grid.Cell, List<Grid.Cell>) - Method in class GlobalNavigation.Grid

Collect all the (Manhattan) neighbors of cell.

color - Variable in class GlobalNavigation.PolygonObstacle

cols - Variable in class GlobalNavigation.Grid

Number of cols in the grid.

compareTo(Object) - Method in class GlobalNavigation.VisibilityGraph.QueueElement

computeShortestPath(Point2D.Double, Point2D.Double) - Method in class GlobalNavigation.VisibilityGraph

computeShortestPaths(Point2D.Double) - Method in class GlobalNavigation.Grid

Compute and cache the shortest (Manhattan) paths (BFS) from each cell in the grid to the cell containing goalPoint.

contains(double, double) - Method in class GlobalNavigation.PolygonObstacle

Check whether this obstacle polygon contains a point.

contains(Point2D) - Method in class GlobalNavigation.PolygonObstacle

Check whether this obstacle polygon contains a point.

convexHull(List<Point2D.Double>) - Static method in class GlobalNavigation.GeomUtils

Compute the convex hull of a set of points.

CSpace - Class in GlobalNavigation

Simple configuration space.

CSpace(List<PolygonObstacle>, double) - Constructor for class GlobalNavigation.CSpace

Compute a new CSpace.

cspace - Variable in class GlobalNavigation.GlobalNavigation

The configuration space.

currentWaypoint - Variable in class GlobalNavigation.GlobalNavigation

The current waypoint.

currentWaypointIndex - Variable in class GlobalNavigation.GlobalNavigation

D

DEFAULT_POLY_COLOR - Static variable in class GlobalNavigation.MapGUI

Default color for MapGUI.Polys.

DEFAULT_RECT_COLOR - Static variable in class GlobalNavigation.MapGUI

Default color for MapGUI.Rects.

displayCSpace() - Method in class GlobalNavigation.GlobalNavigation

Display GlobalNavigation.cspace to the GUI.

displayGrid() - Method in class GlobalNavigation.GlobalNavigation

Display GlobalNavigation.grid to the GUI.

displayMap() - Method in class GlobalNavigation.GlobalNavigation

Display GlobalNavigation.map to console and to the GUI.

displayPath() - Method in class GlobalNavigation.GlobalNavigation

Display a set of line segments from GlobalNavigation.currentWaypoint to the goal.

displayVisibilityGraph() - Method in class GlobalNavigation.GlobalNavigation

distanceFromStart - Variable in class GlobalNavigation.VisibilityGraph.QueueElement

distanceToGoal - Variable in class GlobalNavigation.VisibilityGraph.QueueElement

driverDisplayHook() - Method in class GlobalNavigation.PolygonMap

Hook called after painting map objects in PolygonMap.instanceMain(java.lang.String) to allow subclasses to display extra stuff.

E

equals(Object) - Method in class GlobalNavigation.MapGUI.Poly

equals(Object) - Method in class GlobalNavigation.MapGUI.Rect

ERASE_POLYS - Static variable in class GlobalNavigation.MapGUI

Bitfield constant for GUIEraseMessage.

ERASE_RECTS - Static variable in class GlobalNavigation.MapGUI

Bitfield constant for GUIEraseMessage.

EraseMessageListener - Class in GlobalNavigation

EraseMessageListener(MapGUI) - Constructor for class GlobalNavigation.EraseMessageListener

erasePolys() - Method in class GlobalNavigation.MapGUI

Erase all previously polys.

eraseRects() - Method in class GlobalNavigation.MapGUI

Erase all previously plotted rects.

F

FAR_COLOR - Static variable in class GlobalNavigation.GlobalNavigation

Color of the farthest cell(s).

fillColor(ColorMsg, Color) - Static method in class GlobalNavigation.GlobalNavigation

fillPointMsg(GUIPointMsg, Point2D.Double, Color, long) - Method in class GlobalNavigation.GlobalNavigation

fillPolyMsg(GUIPolyMsg, PolygonObstacle, Color, boolean, boolean) - Static method in class GlobalNavigation.GlobalNavigation

fillRectMsg(GUIRectMsg, Rectangle2D.Double, Color, boolean) - Static method in class GlobalNavigation.GlobalNavigation

fillSegmentMsg(GUISegmentMsg, Color, Point2D.Double, Point2D.Double) - Method in class GlobalNavigation.GlobalNavigation

FOLLOW_PATH_MAX_RV - Static variable in class GlobalNavigation.GlobalNavigation

Max rotational velocity while following path (rad/s).

FOLLOW_PATH_RV_GAIN - Static variable in class GlobalNavigation.GlobalNavigation

Proportional gain for rotation controller while following path.

FOLLOW_PATH_TV - Static variable in class GlobalNavigation.GlobalNavigation

Translational velocity while following path (m/s).

G

GeomUtils - Class in GlobalNavigation

Geometric utilities.

GeomUtils() - Constructor for class GlobalNavigation.GeomUtils

getAppName() - Method in class GlobalNavigation.MapGUI

getAppName() - Method in class GlobalNavigation.PolygonMap

Get the application name.

getCell(Point2D.Double) - Method in class GlobalNavigation.Grid

Get the cell containing point, or null if out of bounds.

getCenterX() - Method in class GlobalNavigation.Grid.Cell

Get the x coordinate of the center of this cell.

getCenterY() - Method in class GlobalNavigation.Grid.Cell

Get the y coordinate of the center of this cell.

getColorFromMsg(ColorMsg) - Method in class GlobalNavigation.RectMessageListener

getDefaultNodeName() - Method in class GlobalNavigation.GlobalNavigation

getDefaultNodeName() - Method in class GlobalNavigation.PolygonMap

getGraph() - Method in class GlobalNavigation.VisibilityGraph

getObstacles() - Method in class GlobalNavigation.CSpace

Get CSpace.obstacles.

getObstacles() - Method in class GlobalNavigation.PolygonMap

Get PolygonMap.obstacles.

getRobotGoal() - Method in class GlobalNavigation.PolygonMap

Get PolygonMap.robotGoal.

getRobotStart() - Method in class GlobalNavigation.PolygonMap

Get PolygonMap.robotStart.

getVertices() - Method in class GlobalNavigation.PolygonObstacle

Covers PolygonObstacle.getVertices(List), always makes a new list.

getVertices(List<Point2D.Double>) - Method in class GlobalNavigation.PolygonObstacle

Get the vertices of this polygon in the order in which they were added.

getWorldRect() - Method in class GlobalNavigation.PolygonMap

Get PolygonMap.worldRect.

GlobalNavigation - package GlobalNavigation

GlobalNavigation - Class in GlobalNavigation

Driver for the GlobalNavigation lab.

GlobalNavigation() - Constructor for class GlobalNavigation.GlobalNavigation

GO - Static variable in class GlobalNavigation.GlobalNavigation

State constant, following path.

GOAL_COLOR - Static variable in class GlobalNavigation.GlobalNavigation

Color of the goal cell.

goalPoint - Variable in class GlobalNavigation.GlobalNavigation

Goal point.

grid - Variable in class GlobalNavigation.GlobalNavigation

Grid - Class in GlobalNavigation

Grid for path planning.

Grid(Rectangle2D.Double, double) - Constructor for class GlobalNavigation.Grid

Create a new grid.

Grid.Cell - Class in GlobalNavigation

Grid.GridIterator - Class in GlobalNavigation

An iterator over Grid.cell.

Grid.GridIterator() - Constructor for class GlobalNavigation.Grid.GridIterator

GRID_RESOLUTION - Static variable in class GlobalNavigation.GlobalNavigation

H

handle(OdometryMsg) - Method in class GlobalNavigation.GlobalNavigation

Implements path following.

handle(BumpMsg) - Method in class GlobalNavigation.GlobalNavigation

Implements stop on bump.

hashCode() - Method in class GlobalNavigation.MapGUI.Poly

hashCode() - Method in class GlobalNavigation.MapGUI.Rect

hasNext() - Method in class GlobalNavigation.Grid.GridIterator

hasPathToGoal() - Method in class GlobalNavigation.Grid.Cell

Check whether this cell has a path to the goal.

I

instanceMain(String[]) - Method in class GlobalNavigation.GlobalNavigation

Displays map, computes cspace and grid, displays grid and path, and initiates path following.

instanceMain(String) - Method in class GlobalNavigation.PolygonMap

Parses the specified map file, prints it out, and displays it in the GUI, if any.

interpolateColor(double, double) - Static method in class GlobalNavigation.GlobalNavigation

Generate an interpolated color between GlobalNavigation.FAR_COLOR and GlobalNavigation.GOAL_COLOR.

intersects(double, double, double, double) - Method in class GlobalNavigation.PolygonObstacle

Check whether a rectangle intersects this obstacle polygon.

intersects(Rectangle2D) - Method in class GlobalNavigation.PolygonObstacle

Check whether a rectangle intersects this obstacle polygon.

iterator() - Method in class GlobalNavigation.Grid

Get a Grid.GridIterator over Grid.cell.

M

makeCenterPoint() - Method in class GlobalNavigation.Grid.Cell

Return the center point of this cell.

makeCSObstacle(PolygonObstacle, double) - Method in class GlobalNavigation.CSpace

Make a CS obstacle.

map - Variable in class GlobalNavigation.GlobalNavigation

The map, read from file in #main.

MapGUI - Class in GlobalNavigation

Extends LocalNavigation.SonarGUI to display map-related data (first read the doc for that class).

MapGUI(int, double, double) - Constructor for class GlobalNavigation.MapGUI

Consruct a new MapGUI.

MapGUI(int) - Constructor for class GlobalNavigation.MapGUI

See LocalNavigation.SonarGUI(int).

MapGUI() - Constructor for class GlobalNavigation.MapGUI

See LocalNavigation.SonarGUI().

MapGUI.Poly - Class in GlobalNavigation

A visual polygon.

MapGUI.Rect - Class in GlobalNavigation

A visual rectangle.

markObstacle(PolygonObstacle) - Method in class GlobalNavigation.Grid

Mark all the Grid.Cell that PolygonObstacle.intersects(double, double, double, double) obstacle not Grid.Cell.free.

maxDist - Variable in class GlobalNavigation.GlobalNavigation

Maximum distance from any cell that can reach the goal to the goal (m).

N

next() - Method in class GlobalNavigation.Grid.GridIterator

numCells() - Method in class GlobalNavigation.Grid

Get the number of cells in this Grid.

O

obstacles - Variable in class GlobalNavigation.CSpace

The CS obstacles.

obstacles - Variable in class GlobalNavigation.PolygonMap

The obstacles (does not include the world boundary).

OdometryListener - Class in GlobalNavigation

OdometryListener(GlobalNavigation) - Constructor for class GlobalNavigation.OdometryListener

odoSub - Variable in class GlobalNavigation.GlobalNavigation

onNewMessage(BumpMsg) - Method in class GlobalNavigation.BumpListener

onNewMessage(GUIEraseMsg) - Method in class GlobalNavigation.EraseMessageListener

onNewMessage(OdometryMsg) - Method in class GlobalNavigation.OdometryListener

onNewMessage(GUIPolyMsg) - Method in class GlobalNavigation.PolyMessageListener

onNewMessage(GUIRectMsg) - Method in class GlobalNavigation.RectMessageListener

onShutdown(Node) - Method in class GlobalNavigation.GlobalNavigation

onShutdown(Node) - Method in class GlobalNavigation.PolygonMap

Shutdown hook for ROS when called as stand-alone node

onShutdownComplete(Node) - Method in class GlobalNavigation.GlobalNavigation

onShutdownComplete(Node) - Method in class GlobalNavigation.PolygonMap

onStart(Node) - Method in class GlobalNavigation.GlobalNavigation

Driver, calls GlobalNavigation.instanceMain(java.lang.String[]).

onStart(Node) - Method in class GlobalNavigation.MapGUI

Hook called by ROS to start the gui

onStart(Node) - Method in class GlobalNavigation.PolygonMap

Entry hook for ROS when called as stand-alone node

P

paint(Graphics2D) - Method in class GlobalNavigation.MapGUI.Poly

Paints the poly.

paint(Graphics2D) - Method in class GlobalNavigation.MapGUI.Rect

Paints the rect.

paintInWorldOverGridUnderPosesHook(Graphics2D) - Method in class GlobalNavigation.MapGUI

paintPolys(Graphics2D) - Method in class GlobalNavigation.MapGUI

Paint all MapGUI.polys.

paintRects(Graphics2D) - Method in class GlobalNavigation.MapGUI

Paint all MapGUI.rects.

parse(File) - Method in class GlobalNavigation.PolygonMap

Parse mapFile.

parseDouble(BufferedReader, String, int) - Method in class GlobalNavigation.PolygonMap

Parse a double.

parseExtra(BufferedReader, int) - Method in class GlobalNavigation.PolygonMap

Hook called from PolygonMap.parse(java.io.File) after the first four lines are parsed to allow subclasses to parse extra lines before the obstacles.

parseObs(BufferedReader, String, int) - Method in class GlobalNavigation.PolygonMap

Parse a PolygonObstacle.

parsePoint(Point2D.Double, BufferedReader, String, int) - Method in class GlobalNavigation.PolygonMap

Parse a Point2D.Double.

parseRect(Rectangle2D.Double, BufferedReader, String, int) - Method in class GlobalNavigation.PolygonMap

Parse a Rectangle2D.Double.

path - Variable in class GlobalNavigation.PolygonObstacle

Underlying implementation of the geometry.

path - Variable in class GlobalNavigation.VisibilityGraph.QueueElement

PATH_COLOR - Static variable in class GlobalNavigation.GlobalNavigation

Color of the path.

POINT_COMPARATOR_LR - Static variable in class GlobalNavigation.GeomUtils

Compare two points for sorting in x-increasing (then y-increasing) order.

POLY_LINE_WIDTH - Static variable in class GlobalNavigation.MapGUI

Line width of the lines making up a MapGUI.Poly in pixels.

polyColor - Variable in class GlobalNavigation.MapGUI

The current MapGUI.Poly color.

PolygonMap - Class in GlobalNavigation

The 2D PolygonMap.worldRect, PolygonObstacle PolygonMap.obstacles, PolygonMap.robotStart, and PolygonMap.robotGoal that make-up the environment in which the robot will navigate.

PolygonMap(File) - Constructor for class GlobalNavigation.PolygonMap

Create a new map, parsing mapFile.

PolygonMap(String) - Constructor for class GlobalNavigation.PolygonMap

Covers PolygonMap.PolygonMap(File).

PolygonMap() - Constructor for class GlobalNavigation.PolygonMap

Create a new un-initialized polygon map.

PolygonObstacle - Class in GlobalNavigation

Represents a polygonal obstacle.

PolygonObstacle() - Constructor for class GlobalNavigation.PolygonObstacle

PolyMessageListener - Class in GlobalNavigation

PolyMessageListener(MapGUI) - Constructor for class GlobalNavigation.PolyMessageListener

polys - Variable in class GlobalNavigation.MapGUI

All the MapGUI.Polys.

polysEnabled - Variable in class GlobalNavigation.MapGUI

Whether to paint the polys.

R

RECT_LINE_WIDTH - Static variable in class GlobalNavigation.MapGUI

Line width of the lines making up a MapGUI.Rect in pixels.

rectColor - Variable in class GlobalNavigation.MapGUI

The current MapGUI.Rect color.

RectMessageListener - Class in GlobalNavigation

RectMessageListener(MapGUI) - Constructor for class GlobalNavigation.RectMessageListener

rects - Variable in class GlobalNavigation.MapGUI

All the MapGUI.Rects.

rectsEnabled - Variable in class GlobalNavigation.MapGUI

Whether to paint the rects.

redrawCounter - Variable in class GlobalNavigation.GlobalNavigation

remove() - Method in class GlobalNavigation.Grid.GridIterator

resolution - Variable in class GlobalNavigation.Grid

Grid resolution.

rightTurn(Point2D.Double, Point2D.Double, Point2D.Double) - Static method in class GlobalNavigation.GeomUtils

Check whether three ordered points make a right turn.

ROBOT_BUMPER_LEFT - Static variable in class GlobalNavigation.GlobalNavigation

Left bumper (orc port 9) index.

ROBOT_BUMPER_RIGHT - Static variable in class GlobalNavigation.GlobalNavigation

Right bumper (orc port 8) index.

robotGoal - Variable in class GlobalNavigation.PolygonMap

The goal point for the robot origin, read in from the map file (m).

robotRadius - Static variable in class GlobalNavigation.GlobalNavigation

(Solution)

robotStart - Variable in class GlobalNavigation.PolygonMap

The start point for the robot origin, read in from the map file (m).

ROTATE_FIRST_THRESHOLD - Static variable in class GlobalNavigation.GlobalNavigation

Rotate before translation threshold (radians)

rows - Variable in class GlobalNavigation.Grid

Number of rows in the grid.

S

setMotionMsg(MotionMsg, double, double) - Method in class GlobalNavigation.GlobalNavigation

started - Variable in class GlobalNavigation.PolygonObstacle

Whether this polygon has been started.

startPoint - Variable in class GlobalNavigation.GlobalNavigation

Start point.

state - Variable in class GlobalNavigation.GlobalNavigation

The current robot state.

STOP - Static variable in class GlobalNavigation.GlobalNavigation

State constant, robot stopped.

T

testConvexHull() - Method in class GlobalNavigation.GlobalNavigation

Exercise the convex hull and polygon display code.

testGraphicsHook() - Method in class GlobalNavigation.MapGUI

toString() - Method in class GlobalNavigation.Grid.Cell

Return a human-readable string representation of this cell.

toString() - Method in class GlobalNavigation.PolygonMap

Return a human-readable string representation of this map.

toString() - Method in class GlobalNavigation.PolygonObstacle

Covers PolygonObstacle.toStringBuffer(java.lang.StringBuffer), internally conses a StringBuffer.

toStringBuffer(StringBuffer) - Method in class GlobalNavigation.PolygonObstacle

Append a human-readable string representation of this obstacle to a StringBuffer.

V

visibilityGraph - Variable in class GlobalNavigation.GlobalNavigation

The graph

VisibilityGraph - Class in GlobalNavigation

This class is being implemented last minute because the current grid path-finding cannot find a path through the maze

VisibilityGraph(Point2D.Double, Point2D.Double, Rectangle2D.Double, CSpace) - Constructor for class GlobalNavigation.VisibilityGraph

VisibilityGraph.QueueElement - Class in GlobalNavigation

VisibilityGraph.QueueElement(ArrayList<Point2D.Double>, double, double) - Constructor for class GlobalNavigation.VisibilityGraph.QueueElement

W

waypoints - Variable in class GlobalNavigation.GlobalNavigation

worldBounds - Variable in class GlobalNavigation.Grid

World boundary.

worldRect - Variable in class GlobalNavigation.GlobalNavigation

World bounds.

worldRect - Variable in class GlobalNavigation.PolygonMap

The location and size of the world boundary, read in from the map file (m).

WP_THRESHOLD - Static variable in class GlobalNavigation.GlobalNavigation

Waypoint reached threshold (m).

A B C D E F G H I M N O P R S T V W