Passer::RoboidControl::Placement Class Reference

A plament is used to specify where a Thing is placed on the Roboid. More...

#include <Placement.h>

Public Member Functions
	Placement (Thing *thing, Vector3 position=Vector3::zero, float horizontalDirection=0.0F, float verticalAngle=0.0F)
	Placement of a Thing on a Roboid.
	Placement (Thing *thing, float horizontalDirection, float verticalDirection=0.0F)
	Placement of a Thing on a Roboid without position.
	Placement ()
	Default constructor with a zero placement.

Public Attributes
Placement *	parent = nullptr
	The parent placement in the Roboid hierarchy.
Placement **	children = nullptr
	An array of children of this placement in the Roboid hierarchy.
unsigned int	childCount = 0
	The number of children of this placemet in the Roboid hierarchy.
Thing *	thing
	The Thing which is placed.
Vector3	position
	The position of the Thing in carthesian coordinates.
float	horizontalDirection
	The angle or direction of the Thing in the horizontal plane.
float	verticalDirection
	The angle or direction of the Thing in the vertical plane.

Detailed Description

A plament is used to specify where a Thing is placed on the Roboid.

It is not always necessary to exactly specify the position and orientation of a Thing. You can use a simple constructor in that case:

Thing* thing = new Thing();
Placement p = Placement(thing);

The thing can be placed using carthesian coordinates in meters, while the orientation is specified with the horizontal and vertical direction. Whenö both horizontal and vertical direction are zero, the Thing is aligned with the parent thing in the hierarchy. When there is no parent, the thing is directed such that it is looking forward.

Thing* thing = new Thing();
Placement p = Placement(thing, Vector3(-0.04F, 0.0F, 0.06F), 0.0F, 0.0F);

In the example above, the thing is placed 4 cm to the left and 6 cm to the front relative to the parent. The orientation is the same as the parent. The second line can be simplified, as the default angles are zero and a Vector2 position can be used which is a placement in the horizontal plane:

Placement p = Placement(thing, Vector2(-0.04F, 0.06F));

Constructor & Destructor Documentation

Placement() [1/3]

Passer::RoboidControl::Placement::Placement	(	Thing *	thing,
		Vector3	position = Vector3::zero,
		float	horizontalDirection = 0.0F,
		float	verticalAngle = 0.0F
	)

Placement of a Thing on a Roboid.

Parameters

thing	The Thing which is placed
position	The position of the Thing in carthesian coordinates
horizontalDirection	The horizontal direction angle of the Thing. Negative angles are to the left.
verticalAngle	The vertical direction angle of the Thing. Negative angles are downward.

Placement() [2/3]

Placement::Placement	(	Thing *	thing,
		float	horizontalDirection,
		float	verticalDirection = 0.0F
	)

Placement of a Thing on a Roboid without position.

Parameters

thing	The Thing which is place
horizontalDirection	The horizontal direction angle of the Thing. Negative angles are to the left.
verticalDirection	The vertical direction angle of the Thing. Negative angles are downward.

Placement() [3/3]

Placement::Placement

(

)

Default constructor with a zero placement.

Member Data Documentation

parent

Placement* Passer::RoboidControl::Placement::parent = nullptr

The parent placement in the Roboid hierarchy.

Remarks

Reserved for future use

children

Placement** Passer::RoboidControl::Placement::children = nullptr

An array of children of this placement in the Roboid hierarchy.

Remarks

Reserved for future use

childCount

unsigned int Passer::RoboidControl::Placement::childCount = 0

The number of children of this placemet in the Roboid hierarchy.

Remarks

Reserved for future use

thing

Thing* Passer::RoboidControl::Placement::thing

The Thing which is placed.

position

Vector3 Passer::RoboidControl::Placement::position

The position of the Thing in carthesian coordinates.

horizontalDirection

float Passer::RoboidControl::Placement::horizontalDirection

The angle or direction of the Thing in the horizontal plane.

verticalDirection

float Passer::RoboidControl::Placement::verticalDirection

The angle or direction of the Thing in the vertical plane.

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

• d:/PlatformIO/RoboidControlArduino/src/RoboidControl/Placement.h
• d:/PlatformIO/RoboidControlArduino/src/RoboidControl/Placement.cpp