sk.fiit.jim.agent.trajectory

Class Obstacles

java.lang.Object

sk.fiit.jim.agent.trajectory.Obstacles

public class Obstacles
extends Object

Obstacles.java

Field Summary

Fields

Modifier and Type	Field and Description
static double	BYPASS_DISTANCE Distance by which agent calculates how far from obstacle should he go, when he wants to pass it by.
static double	HALF_FIELD_LENGTH Half field length.
static double	HALF_FIELD_WIDTH Half field width.
static double	ROBOT_RADIUS Radius where it is possible the robot can touch something by its body.

Constructor Summary

Constructors

Constructor and Description
Obstacles()

Method Summary

Methods

Modifier and Type	Method and Description
static boolean	checkInField(Vector3D position) Checks if specified position is in the area of field.
static Vector3D	checkIntersection(Vector3D start, Vector3D end, LinkedList<Vector3D> obstacles, boolean flag) Checks the intersection with robots way and obstacles in the way.
static Vector3D	findLeftBypassPoint(double phi, Vector3D obstacle) Finds the way to the left from obstacle by which agent can pass obstacle by.
static Vector3D	findRightBypassPoint(double phi, Vector3D obstacle) Finds the way to the right from obstacle by which agent can pass obstacle by.
static LinkedList<Vector3D>	getRealObstacles() Returns list of all seen players as obstacles.

Methods inherited from class java.lang.Object

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

Field Detail

HALF_FIELD_LENGTH

public static final double HALF_FIELD_LENGTH

Half field length. ----------- | |---| | | | | | |----O----| | | \ | | \ - this distance | |---| | / ----------- /

See Also:

Constant Field Values

HALF_FIELD_WIDTH

public static final double HALF_FIELD_WIDTH

Half field width. this distance | ------ | | ----------- | |---| | | | | | |----O----| | | | | | |---| | -----------

See Also:

Constant Field Values

ROBOT_RADIUS

public static final double ROBOT_RADIUS

Radius where it is possible the robot can touch something by its body.

See Also:

Constant Field Values

BYPASS_DISTANCE

public static final double BYPASS_DISTANCE

Distance by which agent calculates how far from obstacle should he go, when he wants to pass it by.

See Also:

Constant Field Values

Constructor Detail

Obstacles

public Obstacles()

Method Detail

checkIntersection

public static Vector3D checkIntersection(Vector3D start,
                         Vector3D end,
                         LinkedList<Vector3D> obstacles,
                         boolean flag)

Checks the intersection with robots way and obstacles in the way.

Parameters:

start -

end -

obstacles -

flag -

Returns:

checkInField

public static boolean checkInField(Vector3D position)

Checks if specified position is in the area of field. True if the position is in this area, false otherwise.

Parameters:

position -

Returns:

findLeftBypassPoint

public static Vector3D findLeftBypassPoint(double phi,
                           Vector3D obstacle)

Finds the way to the left from obstacle by which agent can pass obstacle by.

Parameters:

phi -

obstacle -

Returns:

findRightBypassPoint

public static Vector3D findRightBypassPoint(double phi,
                            Vector3D obstacle)

Finds the way to the right from obstacle by which agent can pass obstacle by.

Parameters:

phi -

obstacle -

Returns:

getRealObstacles

public static LinkedList<Vector3D> getRealObstacles()

Returns list of all seen players as obstacles.

Returns: