Class unicell_entity3D

• Defined in File unicell_entity3D.hpp

Inheritance Relationships

Base Types

• public cosm::repr::entity3D (Class entity3D)

• public rer::client< unicell_entity3D >

Derived Type

• public cosm::repr::unicell_movable_entity3D (Class unicell_movable_entity3D)

Class Documentation

class unicell_entity3D : public cosm::repr::entity3D, public rer::client<unicell_entity3D>

Representation of a 3D entity in the arena.

• Resides in a single cell (“unicell”)

• Has an extent that can span multiple cells, even though the entity itself “resides” in a single cell. A useful, simplifying abstraction in dealing with the kinds of entities that robots interact with because the handshaking logic is much simpler.

Subclassed by cosm::repr::unicell_movable_entity3D

Public Functions

~unicell_entity3D(void) override = default

inline bool contains_point(const rmath::vector2d &point) const

Return if a real-valued point lies within the extent of the 3D entity in 2D for:

1. Visualization purposes.

2. Determining if a robot is on top of an entity.

Parameters:

point – The point to check.

Returns:

TRUE if the condition is met, and FALSE otherwise.

inline bool contains_point(const rmath::vector3d &point) const

inline rmath::vector3z danchor3D(void) const

inline rmath::vector3z dcenter3D(void) const

inline rmath::vector3d ranchor3D(void) const

Protected Functions

inline unicell_entity3D(const rtypes::type_uuid &id, const rmath::vector3d &dims, const rmath::vector3d &center, const rtypes::discretize_ratio &resolution)

inline unicell_entity3D(const rtypes::type_uuid &id, const rmath::vector3d &dims, const rtypes::discretize_ratio &resolution)

inline const rtypes::discretize_ratio &arena_res(void) const

template<typename T, typename std::enable_if<T::is_movable(), int>::type = 0>
inline void danchor3D(const rmath::vector3z &danchor)

SFINAE to allow only derived classes that mark themselves as movable to change the initial position of the entity.

Updates the discrete anchor,center. Does not change the real anchor,center of the entity.

template<typename T, typename std::enable_if<T::is_movable(), int>::type = 0>
inline void ranchor3D(const rmath::vector3d &ranchor)

SFINAE to allow only derived classes that mark themselves as movable to change the initial position of the entity.

Updates the real anchor,center. Does not change the discrete anchor,center of the entity.