Package xbot.common.trajectory

Class LowResField

java.lang.Object

xbot.common.trajectory.LowResField

All Implemented Interfaces:

ProvidesWaypoints

public class LowResField
extends Object
implements ProvidesWaypoints

Represents a simple version of the field, with Axis-Aligned Bounding Boxes representing no-go zones due to obstacles.

Constructor Summary

Constructors

Constructor	Description
LowResField()

Method Summary

Modifier and Type	Method	Description
void	addObstacle(Obstacle o)	Adds an obstacle to the field.
List<XbotSwervePoint>	generatePath(Pose2d currentPose, Pose2d targetPoint)	Generates a path from the current position to the target point, avoiding known obstacles.
List<Obstacle>	getObstacles()

Methods inherited from class java.lang.Object

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

Constructor Details

LowResField

public LowResField()

Method Details

addObstacle

public void addObstacle(Obstacle o)

Adds an obstacle to the field. If the obstacle intersects with any existing obstacles, it will be combined with the existing obstacle into a single larger obstacle with a bounding box that fully contains both obstacles. This should be the only method used to add new obstacles; otherwise obstacles could intersect.

Parameters:

o - The obstacle to add.

getObstacles

public List<Obstacle> getObstacles()

generatePath

public List<XbotSwervePoint> generatePath(Pose2d currentPose,
 Pose2d targetPoint)

Generates a path from the current position to the target point, avoiding known obstacles. Very generally, it will recursively solve paths nearby the target, and then step foward to approach the target.

Specified by:

generatePath in interface ProvidesWaypoints

Parameters:

currentPose - Starting point

targetPoint - Terminating Point

Returns:

A List of XbotSwervePoints that can be followed to reach the destination without collision.