Package xbot.common.subsystems.pose

Class RectangleFieldObstacle

java.lang.Object

xbot.common.subsystems.pose.RectangleFieldObstacle

All Implemented Interfaces:

IFieldObstacle

Direct Known Subclasses:

SquareFieldObstacle

public class RectangleFieldObstacle
extends Object
implements IFieldObstacle

Rectangle obstacle defined by center + half extents. Collision is tested as: (segment swept by robotRadius) intersects rectangle <=> segment intersects the rectangle inflated by robotRadius in X and Y.

Constructor Summary

Constructors

Constructor	Description
RectangleFieldObstacle(Translation2d center, Distance halfWidth, Distance halfHeight, boolean isToughTerrain)

Method Summary

Modifier and Type	Method	Description
Distance	avoidanceRadius()	What's the radius that we'll attempt to avoid when we need to move away from the obstacle.
Translation2d	center()	Returns the center of the obstacle to help determine closest obstacle.
boolean	doesRobotPathIntersect(Translation2d start, Translation2d end, Distance robotRadius)	Whether the described robot path will collide with this field obstacle or not.
boolean	isToughTerrain()	Returns this obstacle can still be moved through, but is slower terrain or more dangerous terrain to move through.

Methods inherited from class java.lang.Object

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

Constructor Details

RectangleFieldObstacle

public RectangleFieldObstacle(Translation2d center,
 Distance halfWidth,
 Distance halfHeight,
 boolean isToughTerrain)

Method Details

isToughTerrain

public boolean isToughTerrain()

Description copied from interface: IFieldObstacle

Returns this obstacle can still be moved through, but is slower terrain or more dangerous terrain to move through.

Specified by:

isToughTerrain in interface IFieldObstacle

Returns:

Whether the obstacle matches the description above for tough terrain.

center

public Translation2d center()

Description copied from interface: IFieldObstacle

Returns the center of the obstacle to help determine closest obstacle.

Specified by:

center in interface IFieldObstacle

Returns:

A translation 2d for where the center of this obstacle

avoidanceRadius

public Distance avoidanceRadius()

Description copied from interface: IFieldObstacle

What's the radius that we'll attempt to avoid when we need to move away from the obstacle.

Specified by:

avoidanceRadius in interface IFieldObstacle

Returns:

Whether the obstacle matches the description above for tough terrain.

doesRobotPathIntersect

public boolean doesRobotPathIntersect(Translation2d start,
 Translation2d end,
 Distance robotRadius)

Description copied from interface: IFieldObstacle

Whether the described robot path will collide with this field obstacle or not.

Specified by:

doesRobotPathIntersect in interface IFieldObstacle

Parameters:

start - The start of the path.

end - The end of the path.

robotRadius - The radius we should use to determine whether the robot can make the path through this obstacle.

Returns:

Whether the path will work for this obstacle.