uwcse.location.core
Class WorldMap

java.lang.Object
  |
  +--uwcse.location.core.WorldMap

public class WorldMap

extends Object

The WorldMap class describes a coordinate system in which location computations occur.

Version:

$Revision: 1.5 $

Author:

Jeffrey Hightower

Constructor Summary

WorldMap()           Create an empty world map 1 cubic unit in size.

WorldMap(byte[][] grid, Vector3d gridResolution, Vector3d gridOriginTranslation)           Creates a world map defined by the given obstacle grid and transform.

WorldMap(Tuple3d lowerCorner, Tuple3d upperCorner)           Creates a world map defined by the given lower and upper bounding corners.

WorldMap(WorldMap wm)           Creates a map measurement as a copy of the given one.

 

Method Summary
Object	clone()           Return a cloned copy of this world map.
int	getGridHeight()           Return the width of the obstacle grid.
int	getGridWidth()           Return the width of the obstacle grid.
Point3d	getLowerCorner()           Get the lower corner of the bounding box of this map.
Point3d	getUpperCorner()           Get the upper corner of the bounding box of this map.
Vector3d	getWorldSize()           Get the size of the world.
boolean	isConsistent(Tuple3d position)           Return true if the given world position is consistent with this world map.
boolean	isConsistent(State s)           Return true if the given State is consistent with this world map.
boolean	isConsistentGridFrame(Tuple3d pos)           Returns true if the given position, already transformed to the grid reference frame, is consistent with this world map (i.e. not off the map, or in an obstacle).
double	obstacleDistance(Point3d position, Vector3d heading)           Returns the maximum distance that can be traveled from the given position along the given heading before leaving the bounds of the world map or hitting an obstacle.
double	obstacleDistance(State s)           Returns the maximum distance that can be traveled from the given State's position along its heading before leaving bounds of the world map or hitting an obstacle.
String	toString()           Return a string representation of this WorldMap.

 

Methods inherited from class java.lang.Object

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

 

Constructor Detail

WorldMap

public WorldMap()

Create an empty world map 1 cubic unit in size.

WorldMap

public WorldMap(Tuple3d lowerCorner,
                Tuple3d upperCorner)

Creates a world map defined by the given lower and upper bounding corners.

WorldMap

public WorldMap(byte[][] grid,
                Vector3d gridResolution,
                Vector3d gridOriginTranslation)

Creates a world map defined by the given obstacle grid and transform.

WorldMap

public WorldMap(WorldMap wm)

Creates a map measurement as a copy of the given one.

clone

public Object clone()

Return a cloned copy of this world map.

Overrides:

clone in class Object

toString

public String toString()

Return a string representation of this WorldMap.

Overrides:

toString in class Object

getLowerCorner

public Point3d getLowerCorner()

Get the lower corner of the bounding box of this map.

getUpperCorner

public Point3d getUpperCorner()

Get the upper corner of the bounding box of this map.

getWorldSize

public Vector3d getWorldSize()

Get the size of the world.

getGridWidth

public int getGridWidth()

Return the width of the obstacle grid.

getGridHeight

public int getGridHeight()

Return the width of the obstacle grid.

isConsistent

public boolean isConsistent(State s)

Return true if the given State is consistent with this world map.

isConsistent

public boolean isConsistent(Tuple3d position)

Return true if the given world position is consistent with this world map.

isConsistentGridFrame

public boolean isConsistentGridFrame(Tuple3d pos)

Returns true if the given position, already transformed to the grid reference frame, is consistent with this world map (i.e. not off the map, or in an obstacle). This method is usually not used externally.

See Also:

isConsistent(State), isConsistent(Tuple3d)

obstacleDistance

public double obstacleDistance(State s)

Returns the maximum distance that can be traveled from the given State's position along its heading before leaving bounds of the world map or hitting an obstacle.

obstacleDistance

public double obstacleDistance(Point3d position,
                               Vector3d heading)

Returns the maximum distance that can be traveled from the given position along the given heading before leaving the bounds of the world map or hitting an obstacle.