Struct jalansim::obstacle::CircleObstacle

template <typename T, std::size_t N_TRAJ>

ClassList > jalansim > obstacle > CircleObstacle

Circular obstacle with trajectory support. More...

  • #include <circle.hpp>

Public Attributes

Type Name
T poly_x
X coordinates of polygon vertices (local frame)
T poly_y
Y coordinates of polygon vertices (local frame)
T radius = T(0.1)
Obstacle radius.
std::size_t traj_size = 1
Number of trajectory waypoints.
T traj_time = {T(0.0)}
Timestamps for trajectory waypoints.
T traj_x = {T(0.0)}
X coordinates of trajectory waypoints.
T traj_y = {T(0.0)}
Y coordinates of trajectory waypoints.
T traj_yaw
Yaw angles of trajectory waypoints (radians)
std::size_t verts = 4
Number of vertices in the polygon.

Public Functions

Type Name
JALANSIM_HOST_DEVICE bool collided (T x, T y) const
Check collision with a point.
JALANSIM_HOST_DEVICE bool collided (T x, T y) const
Check collision with a point (implementation needed).
JALANSIM_HOST_DEVICE T distance (T x, T y) const
Calculate distance from a point to obstacle center.
JALANSIM_HOST_DEVICE T distance (T x, T y) const
Calculate distance from a point to obstacle (implementation needed).
JALANSIM_HOST_DEVICE T get_radius () const
Get the current obstacle radius.
JALANSIM_HOST_DEVICE T get_radius () const
Get the current obstacle radius.
JALANSIM_HOST_DEVICE void get_trajectory (T * x, T * y, T * time) const
Get the obstacle trajectory.
JALANSIM_HOST_DEVICE void get_trajectory (T * x, T * y, T * yaw, T * time) const
Get the obstacle trajectory with orientation.
JALANSIM_HOST_DEVICE void set_radius (T r)
Set the obstacle radius.
JALANSIM_HOST_DEVICE void set_radius (T r)
Set the obstacle radius (note: for polygon obstacles, this may affect scaling).
JALANSIM_HOST_DEVICE void set_trajectory (const T * x, const T * y, const T * time)
Set the obstacle trajectory.
JALANSIM_HOST_DEVICE void set_trajectory (const T * x, const T * y, const T * yaw, const T * time, std::size_t n)
Set the obstacle trajectory with orientation.

Detailed Description

Polygonal obstacle with trajectory and orientation support.

Represents a moving circular obstacle that can follow a predefined trajectory over time. Provides collision detection and distance calculation based on the obstacle's current position. The trajectory is defined by a series of waypoints with associated timestamps.

Template parameters:

  • T Numeric type (float, double)
  • N_TRAJ Maximum number of trajectory waypoints

Represents a moving polygonal obstacle that can follow a predefined trajectory over time with orientation changes. Provides collision detection and distance calculation based on the obstacle's current position and orientation. The trajectory includes position, yaw angle, and timestamps. Supports up to 16 vertices and 64 trajectory waypoints.

Template parameters:

  • T Numeric type (float, double)

Public Attributes Documentation

variable poly_x

X coordinates of polygon vertices (local frame) 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::poly_x[16];

variable poly_y

Y coordinates of polygon vertices (local frame) 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::poly_y[16];

variable radius

Obstacle radius. 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::radius;

Bounding radius for the polygon.

variable traj_size

Number of trajectory waypoints. 

std::size_t jalansim::obstacle::CircleObstacle< T, N_TRAJ >::traj_size;

variable traj_time

Timestamps for trajectory waypoints. 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::traj_time;

variable traj_x

X coordinates of trajectory waypoints. 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::traj_x;

variable traj_y

Y coordinates of trajectory waypoints. 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::traj_y;

variable traj_yaw

Yaw angles of trajectory waypoints (radians) 

T jalansim::obstacle::CircleObstacle< T, N_TRAJ >::traj_yaw[64];

variable verts

Number of vertices in the polygon. 

std::size_t jalansim::obstacle::CircleObstacle< T, N_TRAJ >::verts;

Public Functions Documentation

function collided [1/2]

Check collision with a point. 

inline JALANSIM_HOST_DEVICE bool jalansim::obstacle::CircleObstacle::collided (
    T x,
    T y
) const

Parameters:

  • x X coordinate of point to check
  • y Y coordinate of point to check

Returns:

True if point is inside obstacle, false otherwise

function collided [1/2]

Check collision with a point (implementation needed). 

inline JALANSIM_HOST_DEVICE bool jalansim::obstacle::CircleObstacle::collided (
    T x,
    T y
) const

Parameters:

  • x X coordinate of point to check
  • y Y coordinate of point to check

Returns:

True if point is inside obstacle, false otherwise

function distance [1/2]

Calculate distance from a point to obstacle center. 

inline JALANSIM_HOST_DEVICE T jalansim::obstacle::CircleObstacle::distance (
    T x,
    T y
) const

Parameters:

  • x X coordinate of point
  • y Y coordinate of point

Returns:

Euclidean distance to obstacle center

function distance [1/2]

Calculate distance from a point to obstacle (implementation needed). 

inline JALANSIM_HOST_DEVICE T jalansim::obstacle::CircleObstacle::distance (
    T x,
    T y
) const

Parameters:

  • x X coordinate of point
  • y Y coordinate of point

Returns:

Distance to obstacle

function get_radius [1/2]

Get the current obstacle radius. 

inline JALANSIM_HOST_DEVICE T jalansim::obstacle::CircleObstacle::get_radius () const

Returns:

Current radius value

function get_radius [1/2]

Get the current obstacle radius. 

inline JALANSIM_HOST_DEVICE T jalansim::obstacle::CircleObstacle::get_radius () const

Returns:

Current radius value

function get_trajectory [1/2]

Get the obstacle trajectory. 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::get_trajectory (
    T * x,
    T * y,
    T * time
) const

Parameters:

  • x Output array for X coordinates (must have space for N_TRAJ elements)
  • y Output array for Y coordinates (must have space for N_TRAJ elements)
  • time Output array for timestamps (must have space for N_TRAJ elements)

function get_trajectory [2/2]

Get the obstacle trajectory with orientation. 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::get_trajectory (
    T * x,
    T * y,
    T * yaw,
    T * time
) const

Parameters:

  • x Output array for X coordinates (must have space for traj_size elements)
  • y Output array for Y coordinates (must have space for traj_size elements)
  • yaw Output array for yaw angles (must have space for traj_size elements)
  • time Output array for timestamps (must have space for traj_size elements)

function set_radius [1/2]

Set the obstacle radius. 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::set_radius (
    T r
)

Parameters:

  • r New radius value

function set_radius [1/2]

Set the obstacle radius (note: for polygon obstacles, this may affect scaling). 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::set_radius (
    T r
)

Parameters:

  • r New radius value

function set_trajectory [1/2]

Set the obstacle trajectory. 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::set_trajectory (
    const T * x,
    const T * y,
    const T * time
)

Parameters:

  • x Array of X coordinates for waypoints
  • y Array of Y coordinates for waypoints
  • time Array of timestamps for waypoints

function set_trajectory [2/2]

Set the obstacle trajectory with orientation. 

inline JALANSIM_HOST_DEVICE void jalansim::obstacle::CircleObstacle::set_trajectory (
    const T * x,
    const T * y,
    const T * yaw,
    const T * time,
    std::size_t n
)

Parameters:

  • x Array of X coordinates for waypoints
  • y Array of Y coordinates for waypoints
  • yaw Array of yaw angles for waypoints (radians)
  • time Array of timestamps for waypoints
  • n Number of trajectory points (max 64)

The documentation for this class was generated from the following file include/jalansim/obstacle/circle.hpp