DtNavBot Class Reference

Classes
struct	CollisionAvoidanceConfiguration
struct	NavigationConfiguration

Public Types
enum	NavigationMethod { NavigationMethodShortcut = 0, NavigationMethodSpline = 1 }
enum	PathStatus {   PathStatusInactive, PathStatusComputing, PathStatusHasPath, PathStatusArrived,   PathStatusNoValidPath, PathStatusLeavingArea, PathStatusFindingTransitionPoint }
typedef DtNavBot *(*	DtNavBotCreatorFcn )()
typedef bool(*	DtNavBotPathLocationEvalFcn )(const DtNavTag &navTag, float *costMultiplier, void *userData)

Public Member Functions
virtual	~DtNavBot ()
virtual void	init (DtNavArea *world, const DtString &profile, double radius, double height, NavigationConfiguration navConfig=NavigationConfiguration(), CollisionAvoidanceConfiguration collAvoidConfig=CollisionAvoidanceConfiguration())=0
virtual void	setPosition (const DtVector &localPos)=0
virtual void	botUpdate (const DtVector &localPos, double dT)=0
virtual void	setDestination (const DtVector &localPos, bool forceOutsideArea=false)=0
virtual void	setDesiredSpeed (double speed)=0
virtual void	clearFollowedPath ()=0
virtual void	clearDestination ()=0
virtual void	moveAlongPath (const std::vector< DtVector > &)=0
virtual DtVector	getOutputVelocity ()=0
virtual void	setPathEvalFcn (DtNavBotPathLocationEvalFcn fcn, void *user)=0
virtual PathStatus	pathStatus (double atDistance)=0
virtual DtString	pathStatusString ()=0
virtual bool	hasArrived (double arrivalDistance)=0
virtual bool	currentPath (std::vector< DtVector > &path)=0
virtual bool	abstractPath (std::vector< DtVector > &path)=0
virtual unsigned	currentAbstractPathIndex ()=0
virtual DtNavTag	navTagAtPosition (const DtVector &localPos) const =0
	Gets the nav tag of the position, if valid.
virtual DtNavTag	upcomingNavTagOnPath () const =0
	Gets the upcoming nav tag in the path.
virtual void	upcomingNavTagsOnPath (double distance, DtNavTagAndLocationList &navTags) const =0
	Gets all nav tags within the specified distance from the current location on the path.

Static Public Member Functions
static DtNavBot *	create ()
static void	setNavBotCreatorFcn (DtNavBotCreatorFcn fcn)

Static Protected Attributes
static DtNavBotCreatorFcn	theNavBotCreatorFcn

Member Typedef Documentation

typedef DtNavBot*(* DtNavBot::DtNavBotCreatorFcn)()

typedef bool(* DtNavBot::DtNavBotPathLocationEvalFcn)(const DtNavTag &navTag, float *costMultiplier, void *userData)

Member Enumeration Documentation

enum DtNavBot::NavigationMethod

Enumerator:

NavigationMethodShortcut
NavigationMethodSpline

enum DtNavBot::PathStatus

Enumerator:

PathStatusInactive
PathStatusComputing	Not actively trying to move.
PathStatusHasPath	Currently computing a path.
PathStatusArrived	Has a valid path to move along.
PathStatusNoValidPath	Has arrived at destination.
PathStatusLeavingArea	Failed to calculate a path.
PathStatusFindingTransitionPoint	Arrived at edge of area. Calculating a transition point

Constructor & Destructor Documentation

virtual DtNavBot::~DtNavBot ( )

inlinevirtual

Member Function Documentation

static DtNavBot* DtNavBot::create ( )

static

static void DtNavBot::setNavBotCreatorFcn ( DtNavBotCreatorFcn  fcn )

static

virtual void DtNavBot::init ( DtNavArea *  world, const DtString &  profile, double  radius, double  height, NavigationConfiguration  navConfig = NavigationConfiguration(), CollisionAvoidanceConfiguration  collAvoidConfig = CollisionAvoidanceConfiguration()  )

pure virtual

virtual void DtNavBot::setPosition ( const DtVector &  localPos )

pure virtual

virtual void DtNavBot::botUpdate ( const DtVector &  localPos, double  dT  )

pure virtual

virtual void DtNavBot::setDestination ( const DtVector &  localPos, bool  forceOutsideArea = false  )

pure virtual

virtual void DtNavBot::setDesiredSpeed ( double  speed )

pure virtual

virtual void DtNavBot::clearFollowedPath ( )

pure virtual

virtual void DtNavBot::clearDestination ( )

pure virtual

virtual void DtNavBot::moveAlongPath ( const std::vector< DtVector > &  )

pure virtual

virtual DtVector DtNavBot::getOutputVelocity ( )

pure virtual

virtual void DtNavBot::setPathEvalFcn ( DtNavBotPathLocationEvalFcn  fcn, void *  user  )

pure virtual

virtual PathStatus DtNavBot::pathStatus ( double  atDistance )

pure virtual

virtual DtString DtNavBot::pathStatusString ( )

pure virtual

Returns

A text status of the current path query, if available. Useful for debugging.

virtual bool DtNavBot::hasArrived ( double  arrivalDistance )

pure virtual

virtual bool DtNavBot::currentPath ( std::vector< DtVector > &  path )

pure virtual

virtual bool DtNavBot::abstractPath ( std::vector< DtVector > &  path )

pure virtual

virtual unsigned DtNavBot::currentAbstractPathIndex ( )

pure virtual

virtual DtNavTag DtNavBot::navTagAtPosition ( const DtVector &  localPos ) const

pure virtual

Gets the nav tag of the position, if valid.

virtual DtNavTag DtNavBot::upcomingNavTagOnPath ( ) const

pure virtual

Gets the upcoming nav tag in the path.

virtual void DtNavBot::upcomingNavTagsOnPath ( double  distance, DtNavTagAndLocationList &  navTags  ) const

pure virtual

Gets all nav tags within the specified distance from the current location on the path.

Member Data Documentation

DtNavBotCreatorFcn DtNavBot::theNavBotCreatorFcn

staticprotected

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfNavigation/navBot.h