MipAlgorithms::Triangle Class Reference

#include <MultiRegCamStr.h>

List of all members.

Public Member Functions
	Triangle ()
	Default constructor.
	Triangle (Position xy1, int id1, Position xy2, int id2, Position xy3, int id3)
	Complete constructor.
	~Triangle ()
	Default destructor.
vector< PosId >	getVertex ()
	Returns all the geometrical informations about the triangle.
PosId *	getFirstVertex ()
	Returns the first vertex.
PosId *	getSecondVertex ()
	Returns the second vertex.
PosId *	getThirdVertex ()
	Returns the third vertex.
PosId *	getVertexByPos (int pos)
	Returns the vertex in position pos.
PosId *	getVertexByID (int id)
void	setMyIdVertex (int myId, Decimal &aSide, Decimal &bSide, Decimal &cSide)
	set myId as first vertex of the triangle
bool	isAVertex (Position pos, Decimal thr)
	Check if the position given in input is already a vertex of the triangle.
void	getIds (vector< int > &ris)
	Returns the ids in the given triangle.
InterPoints	getInter3 ()
	Returns the actual set of intersection by three.
InterPoints *	setInter3 ()
Position	getInter3At (int i)
	Return the Position(x,y) in i-th position.
int	getInter3Size ()
	Returns the size of the intersection by three vector.
InterPoints	getInter2 ()
	Returns the actual set of intersection by two.
int	getInter2Size ()
	Returns the size of the intersection by three vector.
void	deleteDupPoint2 (int pos)
	Deletes an item in the interPoint2 structure (at position pos).
void	deleteDupPoint3 (int pos)
	Deletes an item in the interPoint2 structure (at position pos).
void	insertPoints3 (vector< Position > iPoints)
	Insert some new three intersection points into the actual triangle.
void	insertPoint3 (Position iPoint)
	Insert some new three intersection point into the actual triangle.
void	insertPoints2 (vector< Position > iPoints)
	Insert some new two intersection points into the actual triangle.
void	insertPoint2 (Position iPoint)
	Insert a new two intersection point into the actual triangle.
bool	checkId (int myId)
	Checks if there is myId in the triagle's ids.
bool	sameIds (Triangle *tria)
	Checks if two triangles has the same ids as verteces(the given tria and the actual one).
bool	setOri (Angle oriTwo, Angle oriThree, Angle oriTwoF, Angle oriTwoS, Angle oriThreeF, Angle oriThreeS, Decimal projToll)
	Set the respective orientation of the robot in the actual triangles.
bool	setOriOpt (Angle oriTwo, Angle oriThree, Angle oriTwoF, Angle oriTwoS, Angle oriThreeF, Angle oriThreeS, Decimal projToll, Decimal noise=0.0)
	Set the respective orientation.
Angle	getOriTwo ()
	Get the orientation of the second robot in the triangle.
Angle	getOriThree ()
	Get the orientation of the third robot in the triangle.
Angle	getOriTwoThree ()
	Get the orientation of the third robot respect to the second one.
Angle	getOriTwoOne ()
	Get the orientation of the first robot (base of the triangle) respect to the second one.
Angle	getOriThreeOne ()
	Get the orientation of the first robot (base) respect to the third one.
Angle	getOriThreeTwo ()
	Get the orientation of the second robot respect to the third one.
Angle	getOriByPos (int pos)
string	print ()
	Prints the triangle's parameters.
Triangle &	operator= (Triangle &A)
	operator assignment =
bool	operator== (Triangle &A) const

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Constructor & Destructor Documentation

MipAlgorithms::Triangle::Triangle

(

)

Default constructor.

MipAlgorithms::Triangle::Triangle	(	Position	xy1,
		int	id1,
		Position	xy2,
		int	id2,
		Position	xy3,
		int	id3
	)

Complete constructor.

MipAlgorithms::Triangle::~Triangle

(

)

Default destructor.

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Member Function Documentation

vector< PosId > MipAlgorithms::Triangle::getVertex

(

)

Returns all the geometrical informations about the triangle.

PosId * MipAlgorithms::Triangle::getFirstVertex

(

)

Returns the first vertex.

PosId * MipAlgorithms::Triangle::getSecondVertex

(

)

Returns the second vertex.

PosId * MipAlgorithms::Triangle::getThirdVertex

(

)

Returns the third vertex.

PosId * MipAlgorithms::Triangle::getVertexByPos

(

int

pos

)

Returns the vertex in position pos.

PosId * MipAlgorithms::Triangle::getVertexByID

(

int

id

)

void MipAlgorithms::Triangle::setMyIdVertex	(	int	myId,
		Decimal &	aSide,
		Decimal &	bSide,
		Decimal &	cSide
	)

set myId as first vertex of the triangle

bool MipAlgorithms::Triangle::isAVertex	(	Position	pos,
		Decimal	thr
	)

Check if the position given in input is already a vertex of the triangle.

void MipAlgorithms::Triangle::getIds

(

vector< int > &

ris

)

Returns the ids in the given triangle.

InterPoints MipAlgorithms::Triangle::getInter3

(

)

Returns the actual set of intersection by three.

InterPoints * MipAlgorithms::Triangle::setInter3

(

)

Position MipAlgorithms::Triangle::getInter3At

(

int

i

)

Return the Position(x,y) in i-th position.

int MipAlgorithms::Triangle::getInter3Size

(

)

Returns the size of the intersection by three vector.

InterPoints MipAlgorithms::Triangle::getInter2

(

)

Returns the actual set of intersection by two.

int MipAlgorithms::Triangle::getInter2Size

(

)

Returns the size of the intersection by three vector.

void MipAlgorithms::Triangle::deleteDupPoint2

(

int

pos

)

Deletes an item in the interPoint2 structure (at position pos).

void MipAlgorithms::Triangle::deleteDupPoint3

(

int

pos

)

Deletes an item in the interPoint2 structure (at position pos).

void MipAlgorithms::Triangle::insertPoints3

(

vector< Position >

iPoints

)

Insert some new three intersection points into the actual triangle.

void MipAlgorithms::Triangle::insertPoint3

(

Position

iPoint

)

Insert some new three intersection point into the actual triangle.

void MipAlgorithms::Triangle::insertPoints2

(

vector< Position >

iPoints

)

Insert some new two intersection points into the actual triangle.

void MipAlgorithms::Triangle::insertPoint2

(

Position

iPoint

)

Insert a new two intersection point into the actual triangle.

bool MipAlgorithms::Triangle::checkId

(

int

myId

)

Checks if there is myId in the triagle's ids.

bool MipAlgorithms::Triangle::sameIds

(

Triangle *

tria

)

Checks if two triangles has the same ids as verteces(the given tria and the actual one).

bool MipAlgorithms::Triangle::setOri	(	Angle	oriTwo,
		Angle	oriThree,
		Angle	oriTwoF,
		Angle	oriTwoS,
		Angle	oriThreeF,
		Angle	oriThreeS,
		Decimal	projToll
	)

Set the respective orientation of the robot in the actual triangles.

bool MipAlgorithms::Triangle::setOriOpt	(	Angle	oriTwo,
		Angle	oriThree,
		Angle	oriTwoF,
		Angle	oriTwoS,
		Angle	oriThreeF,
		Angle	oriThreeS,
		Decimal	projToll,
		Decimal	noise = 0.0
	)

Set the respective orientation.

Angle MipAlgorithms::Triangle::getOriTwo

(

)

Get the orientation of the second robot in the triangle.

Angle MipAlgorithms::Triangle::getOriThree

(

)

Get the orientation of the third robot in the triangle.

Angle MipAlgorithms::Triangle::getOriTwoThree

(

)

Get the orientation of the third robot respect to the second one.

Angle MipAlgorithms::Triangle::getOriTwoOne

(

)

Get the orientation of the first robot (base of the triangle) respect to the second one.

Angle MipAlgorithms::Triangle::getOriThreeOne

(

)

Get the orientation of the first robot (base) respect to the third one.

Angle MipAlgorithms::Triangle::getOriThreeTwo

(

)

Get the orientation of the second robot respect to the third one.

Angle MipAlgorithms::Triangle::getOriByPos

(

int

pos

)

string MipAlgorithms::Triangle::print

(

)

Prints the triangle's parameters.

Triangle & MipAlgorithms::Triangle::operator=

(

Triangle &

A

)

operator assignment =

bool MipAlgorithms::Triangle::operator==

(

Triangle &

A

)

const

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The documentation for this class was generated from the following files:

• algorithms/MultiReg/MultiRegCamStr.h
• algorithms/MultiReg/MultiRegCamStr.cpp