WorldBuilder Class Reference

Classes
struct	CompareCluster

Public Types
enum	CLUSTERING { BOX =0 , KMEANS =1 , PARTITION =2 }

Public Member Functions
std::pair< CoordinateContainer, bool >	salientPoints (b2Transform, const CoordinateContainer &, std::pair< Pointf, Pointf >)
b2Body *	makeBody (b2World &, BodyFeatures)
std::vector< BodyFeatures >	processData (const CoordinateContainer &, const b2Transform &)
	returns a bounding box encompassing all points provided More...
std::vector< BodyFeatures >	cluster_data (const CoordinateContainer &, const b2Transform &, CLUSTERING clustering=PARTITION)
bool	checkDisturbance (Pointf, bool &, Task *curr=NULL, float range=0.025)
std::vector< BodyFeatures >	getFeatures (const CoordinateContainer &, b2Transform, CLUSTERING clustering=PARTITION)
void	buildWorld (b2World &, b2Transform, Direction, Disturbance disturbance=Disturbance(), float halfWindowWidth=0.15, CLUSTERING clustering=CLUSTERING::PARTITION, Task *task=NULL)
	Creates bodies (objects) in the box2d world. More...
std::pair< Pointf, Pointf >	bounds (Direction, b2Transform t, float boxLength, float halfWindowWidth, std::vector< Pointf > *_bounds=NULL)
b2PolygonShape	object_filtering_box (float halfWindowWidth, float boxLength, b2Transform start, Direction d)
	Makes a box. More...
std::pair< bool, BodyFeatures >	bounding_approx_poly (std::vector< cv::Point2f >nb)
std::vector< std::vector< cv::Point2f > >	kmeans_clusters (std::vector< cv::Point2f >, std::vector< cv::Point2f > &)
	Clusters points using k-means algorithm. More...
std::vector< std::vector< cv::Point2f > >	partition_clusters (std::vector< cv::Point2f >)
	Clusters points using the partition algorithm. More...
b2Vec2	averagePoint (const CoordinateContainer &, Disturbance &, float rad=0.025)
int	getBodies ()
int	add_body_count ()
void	resetBodies ()
void	add_iteration (int i=1)
b2Body *	get_robot (b2World *)
b2Fixture *	get_chassis (b2Body *)
b2AABB	makeRobotSensor (b2Body *, Disturbance *goal)
std::vector< BodyFeatures > &	get_world_objects ()
void	set_world_objects (const std::vector< BodyFeatures > &wo)

Friends
class	Configurator

Member Function Documentation

buildWorld()

void WorldBuilder::buildWorld	(	b2World &	world,
		b2Transform	start,
		Direction	d,
		Disturbance	disturbance = Disturbance(),
		float	halfWindowWidth = 0.15,
		CLUSTERING	clustering = CLUSTERING::PARTITION,
		Task *	task = NULL
	)

Creates bodies (objects) in the box2d world.

Parameters

disturbance
halfWindowWidth
clustering
task

kmeans_clusters()

std::vector< std::vector< cv::Point2f > > WorldBuilder::kmeans_clusters	(	std::vector< cv::Point2f >	points,
		std::vector< cv::Point2f > &	centers
	)

Clusters points using k-means algorithm.

Returns

std::vector <std::vector<cv::Point2f>>

object_filtering_box()

b2PolygonShape WorldBuilder::object_filtering_box	(	float	halfWindowWidth,
		float	boxLength,
		b2Transform	start,
		Direction	d
	)

Makes a box.

Parameters

halfWindowWidth
boxLength
start
d

Returns

b2PolygonShape

partition_clusters()

std::vector< std::vector< cv::Point2f > > WorldBuilder::partition_clusters

(

std::vector< cv::Point2f >

points

)

Clusters points using the partition algorithm.

Returns

std::vector <std::vector<cv::Point2f>>

processData()

std::vector< BodyFeatures > WorldBuilder::processData	(	const CoordinateContainer &	points,
		const b2Transform &	start
	)

returns a bounding box encompassing all points provided

Returns

std::vector <BodyFeatures>

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

• src/worldbuilder.h
• src/worldbuilder.cpp