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Classes | Public Types | Public Member Functions | Protected Attributes | List of all members
argos::CGrid< ENTITY > Class Template Reference

#include <grid.h>

Inheritance diagram for argos::CGrid< ENTITY >:
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Classes

class  CCellOperation
 
struct  SCell
 

Public Types

typedef CPositionalIndex< ENTITY >::COperation CEntityOperation
 

Public Member Functions

 CGrid (const CVector3 &c_area_min_corner, const CVector3 &c_area_max_corner, SInt32 n_size_i, SInt32 n_size_j, SInt32 n_size_k)
 
virtual ~CGrid ()
 
virtual void Init (TConfigurationNode &t_tree)
 Initializes the resource. More...
 
virtual void Reset ()
 Resets the resource. More...
 
virtual void Destroy ()
 Undoes whatever was done by Init(). More...
 
virtual void AddEntity (ENTITY &c_entity)
 Adds an entity to this index. More...
 
virtual void RemoveEntity (ENTITY &c_entity)
 Removes an entity from this index. More...
 
virtual void Update ()
 Updates this positional index. More...
 
virtual void GetEntitiesAt (CSet< ENTITY *, SEntityComparator > &c_entities, const CVector3 &c_position) const
 Puts the entities located at the given point in the passed buffer. More...
 
virtual void ForAllEntities (CEntityOperation &c_operation)
 Executes an operation on all the indexed entities. More...
 
virtual void ForEntitiesInSphereRange (const CVector3 &c_center, Real f_radius, CEntityOperation &c_operation)
 Executes an operation on all entities within the specified sphere range. More...
 
virtual void ForEntitiesInBoxRange (const CVector3 &c_center, const CVector3 &c_half_size, CEntityOperation &c_operation)
 Executes an operation on all entities within the specified box range. More...
 
virtual void ForEntitiesInCircleRange (const CVector3 &c_center, Real f_radius, CEntityOperation &c_operation)
 Executes an operation on all entities within the specified circle range. More...
 
virtual void ForEntitiesInRectangleRange (const CVector3 &c_center, const CVector2 &c_half_size, CEntityOperation &c_operation)
 Executes an operation on all entities within the specified rectangle range. More...
 
virtual void ForEntitiesAlongRay (const CRay3 &c_ray, CEntityOperation &c_operation, bool b_stop_at_closest_match=false)
 Executes an operation on all entities that intersect the given ray. More...
 
virtual void ForAllCells (CCellOperation &c_operation)
 
virtual void ForCellsInSphereRange (const CVector3 &c_center, Real f_radius, CCellOperation &c_operation)
 
virtual void ForCellsInBoxRange (const CVector3 &c_center, const CVector3 &c_half_size, CCellOperation &c_operation)
 
virtual void ForCellsInCircleRange (const CVector3 &c_center, Real f_radius, CCellOperation &c_operation)
 
virtual void ForCellsInRectangleRange (const CVector3 &c_center, const CVector2 &c_half_size, CCellOperation &c_operation)
 
virtual void ForCellsAlongRay (const CRay3 &c_ray, CCellOperation &c_operation)
 
SInt32 GetSizeI () const
 
SInt32 GetSizeJ () const
 
SInt32 GetSizeK () const
 
void SetUpdateEntityOperation (CEntityOperation *pc_operation)
 
void UpdateCell (SInt32 n_i, SInt32 n_j, SInt32 n_k, ENTITY &c_entity)
 
void PositionToCell (SInt32 &n_i, SInt32 &n_j, SInt32 &n_k, const CVector3 &c_position) const
 
void PositionToCellUnsafe (SInt32 &n_i, SInt32 &n_j, SInt32 &n_k, const CVector3 &c_position) const
 
void ClampCoordinates (SInt32 &n_i, SInt32 &n_j, SInt32 &n_k) const
 
void ClampCoordinates (CVector3 &c_pos) const
 
SCell & GetCellAt (SInt32 n_i, SInt32 n_j, SInt32 n_k)
 
const SCell & GetCellAt (SInt32 n_i, SInt32 n_j, SInt32 n_k) const
 
- Public Member Functions inherited from argos::CPositionalIndex< ENTITY >
 CPositionalIndex ()
 
virtual ~CPositionalIndex ()
 

Protected Attributes

CVector3 m_cAreaMinCorner
 
CVector3 m_cAreaMaxCorner
 
SInt32 m_nSizeI
 
SInt32 m_nSizeJ
 
SInt32 m_nSizeK
 
CRange< Real > m_cRangeX
 
CRange< Real > m_cRangeY
 
CRange< Real > m_cRangeZ
 
CVector3 m_cCellSize
 
CVector3 m_cInvCellSize
 
SCell * m_psCells
 
size_t m_unCurTimestamp
 
CSet< ENTITY *, SEntityComparator > m_cEntities
 
CEntityOperation * m_pcUpdateEntityOperation
 

Detailed Description

template<class ENTITY>
class argos::CGrid< ENTITY >

Definition at line 12 of file grid.h.

Member Typedef Documentation

◆ CEntityOperation

template<class ENTITY>
typedef CPositionalIndex<ENTITY>::COperation argos::CGrid< ENTITY >::CEntityOperation

Definition at line 16 of file grid.h.

Constructor & Destructor Documentation

◆ CGrid()

template<class ENTITY >
argos::CGrid< ENTITY >::CGrid ( const CVector3 &  c_area_min_corner,
const CVector3 &  c_area_max_corner,
SInt32  n_size_i,
SInt32  n_size_j,
SInt32  n_size_k 
)

Definition at line 48 of file grid_impl.h.

◆ ~CGrid()

template<class ENTITY >
argos::CGrid< ENTITY >::~CGrid ( )
virtual

Definition at line 76 of file grid_impl.h.

Member Function Documentation

◆ AddEntity()

template<class ENTITY>
void argos::CGrid< ENTITY >::AddEntity ( ENTITY &  c_entity)
virtual

Adds an entity to this index.

Parameters
c_entityThe entity to add.

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 114 of file grid_impl.h.

◆ ClampCoordinates() [1/2]

template<class ENTITY >
void argos::CGrid< ENTITY >::ClampCoordinates ( SInt32 &  n_i,
SInt32 &  n_j,
SInt32 &  n_k 
) const
inline

Definition at line 948 of file grid_impl.h.

◆ ClampCoordinates() [2/2]

template<class ENTITY >
void argos::CGrid< ENTITY >::ClampCoordinates ( CVector3 &  c_pos) const
inline

Definition at line 963 of file grid_impl.h.

◆ Destroy()

template<class ENTITY >
void argos::CGrid< ENTITY >::Destroy ( )
virtual

Undoes whatever was done by Init().

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 107 of file grid_impl.h.

◆ ForAllCells()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForAllCells ( CCellOperation &  c_operation)
virtual

Definition at line 521 of file grid_impl.h.

◆ ForAllEntities()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForAllEntities ( CEntityOperation &  c_operation)
virtual

Executes an operation on all the indexed entities.

Parameters
c_operationThe operation to perform.
See also
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 161 of file grid_impl.h.

◆ ForCellsAlongRay()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForCellsAlongRay ( const CRay3 &  c_ray,
CCellOperation &  c_operation 
)
virtual

Definition at line 706 of file grid_impl.h.

◆ ForCellsInBoxRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForCellsInBoxRange ( const CVector3 &  c_center,
const CVector3 &  c_half_size,
CCellOperation &  c_operation 
)
virtual

Definition at line 624 of file grid_impl.h.

◆ ForCellsInCircleRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForCellsInCircleRange ( const CVector3 &  c_center,
Real  f_radius,
CCellOperation &  c_operation 
)
virtual

Definition at line 647 of file grid_impl.h.

◆ ForCellsInRectangleRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForCellsInRectangleRange ( const CVector3 &  c_center,
const CVector2 &  c_half_size,
CCellOperation &  c_operation 
)
virtual

Definition at line 685 of file grid_impl.h.

◆ ForCellsInSphereRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForCellsInSphereRange ( const CVector3 &  c_center,
Real  f_radius,
CCellOperation &  c_operation 
)
virtual

Definition at line 535 of file grid_impl.h.

◆ ForEntitiesAlongRay()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForEntitiesAlongRay ( const CRay3 &  c_ray,
CEntityOperation &  c_operation,
bool  b_stop_at_closest_match = false 
)
virtual

Executes an operation on all entities that intersect the given ray.

When the parameter b_stop_at_closest_matches is set to true, this method stops at the closest match. Depending on the actual index implementation, there may be multiple closest matches. In this case, the operation is executed on all of them.

Parameters
c_rayThe ray.
c_operationThe operation to perform.
b_stop_at_closest_matchesStop the computation as soon as the first match is found.
See also
CRay
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 342 of file grid_impl.h.

◆ ForEntitiesInBoxRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForEntitiesInBoxRange ( const CVector3 &  c_center,
const CVector3 &  c_half_size,
CEntityOperation &  c_operation 
)
virtual

Executes an operation on all entities within the specified box range.

The box is axis-aligned.

Parameters
c_centerThe box center.
c_half_sizeThe box half-size.
c_operationThe operation to perform.
See also
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 260 of file grid_impl.h.

◆ ForEntitiesInCircleRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForEntitiesInCircleRange ( const CVector3 &  c_center,
Real  f_radius,
CEntityOperation &  c_operation 
)
virtual

Executes an operation on all entities within the specified circle range.

The circle is parallel to the XY plane.

Parameters
c_centerThe circle center.
f_radiusThe circle radius.
c_operationThe operation to perform.
See also
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 283 of file grid_impl.h.

◆ ForEntitiesInRectangleRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForEntitiesInRectangleRange ( const CVector3 &  c_center,
const CVector2 &  c_half_size,
CEntityOperation &  c_operation 
)
virtual

Executes an operation on all entities within the specified rectangle range.

The rectangle is axis-aligned and parallel to the XY plane.

Parameters
c_centerThe rectangle center.
c_half_sizeThe rectangle half-size.
c_operationThe operation to perform.
See also
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 321 of file grid_impl.h.

◆ ForEntitiesInSphereRange()

template<class ENTITY >
void argos::CGrid< ENTITY >::ForEntitiesInSphereRange ( const CVector3 &  c_center,
Real  f_radius,
CEntityOperation &  c_operation 
)
virtual

Executes an operation on all entities within the specified sphere range.

Parameters
c_centerThe sphere center.
f_radiusThe sphere radius.
c_operationThe operation to perform.
See also
COperation

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 171 of file grid_impl.h.

◆ GetCellAt() [1/2]

template<class ENTITY >
CGrid< ENTITY >::SCell & argos::CGrid< ENTITY >::GetCellAt ( SInt32  n_i,
SInt32  n_j,
SInt32  n_k 
)
inline

Definition at line 976 of file grid_impl.h.

◆ GetCellAt() [2/2]

template<class ENTITY >
const CGrid< ENTITY >::SCell & argos::CGrid< ENTITY >::GetCellAt ( SInt32  n_i,
SInt32  n_j,
SInt32  n_k 
) const
inline

Definition at line 988 of file grid_impl.h.

◆ GetEntitiesAt()

template<class ENTITY>
void argos::CGrid< ENTITY >::GetEntitiesAt ( CSet< ENTITY *, SEntityComparator > &  c_entities,
const CVector3 &  c_position 
) const
virtual

Puts the entities located at the given point in the passed buffer.

Parameters
c_entitiesThe entity set to use as buffer.
c_positionThe wanted point in the space.

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 139 of file grid_impl.h.

◆ GetSizeI()

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::GetSizeI ( ) const
inline

Definition at line 104 of file grid.h.

◆ GetSizeJ()

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::GetSizeJ ( ) const
inline

Definition at line 108 of file grid.h.

◆ GetSizeK()

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::GetSizeK ( ) const
inline

Definition at line 112 of file grid.h.

◆ Init()

template<class ENTITY >
void argos::CGrid< ENTITY >::Init ( TConfigurationNode &  t_tree)
virtual

Initializes the resource.

Parameters
t_treethe base of the XML configuration tree to parse
Exceptions
CARGoSExceptionif an error occurs

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 84 of file grid_impl.h.

◆ PositionToCell()

template<class ENTITY >
void argos::CGrid< ENTITY >::PositionToCell ( SInt32 &  n_i,
SInt32 &  n_j,
SInt32 &  n_k,
const CVector3 &  c_position 
) const
inline

Definition at line 915 of file grid_impl.h.

◆ PositionToCellUnsafe()

template<class ENTITY >
void argos::CGrid< ENTITY >::PositionToCellUnsafe ( SInt32 &  n_i,
SInt32 &  n_j,
SInt32 &  n_k,
const CVector3 &  c_position 
) const
inline

Definition at line 935 of file grid_impl.h.

◆ RemoveEntity()

template<class ENTITY>
void argos::CGrid< ENTITY >::RemoveEntity ( ENTITY &  c_entity)
virtual

Removes an entity from this index.

Parameters
c_entityThe entity to remove.

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 122 of file grid_impl.h.

◆ Reset()

template<class ENTITY >
void argos::CGrid< ENTITY >::Reset ( )
virtual

Resets the resource.

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 91 of file grid_impl.h.

◆ SetUpdateEntityOperation()

template<class ENTITY >
void argos::CGrid< ENTITY >::SetUpdateEntityOperation ( CEntityOperation *  pc_operation)
inline

Definition at line 907 of file grid_impl.h.

◆ Update()

template<class ENTITY >
void argos::CGrid< ENTITY >::Update ( )
virtual

Updates this positional index.

Implements argos::CPositionalIndex< ENTITY >.

Definition at line 130 of file grid_impl.h.

◆ UpdateCell()

template<class ENTITY>
void argos::CGrid< ENTITY >::UpdateCell ( SInt32  n_i,
SInt32  n_j,
SInt32  n_k,
ENTITY &  c_entity 
)

Definition at line 884 of file grid_impl.h.

Member Data Documentation

◆ m_cAreaMaxCorner

template<class ENTITY>
CVector3 argos::CGrid< ENTITY >::m_cAreaMaxCorner
protected

Definition at line 150 of file grid.h.

◆ m_cAreaMinCorner

template<class ENTITY>
CVector3 argos::CGrid< ENTITY >::m_cAreaMinCorner
protected

Definition at line 149 of file grid.h.

◆ m_cCellSize

template<class ENTITY>
CVector3 argos::CGrid< ENTITY >::m_cCellSize
protected

Definition at line 157 of file grid.h.

◆ m_cEntities

template<class ENTITY>
CSet<ENTITY*,SEntityComparator> argos::CGrid< ENTITY >::m_cEntities
protected

Definition at line 161 of file grid.h.

◆ m_cInvCellSize

template<class ENTITY>
CVector3 argos::CGrid< ENTITY >::m_cInvCellSize
protected

Definition at line 158 of file grid.h.

◆ m_cRangeX

template<class ENTITY>
CRange<Real> argos::CGrid< ENTITY >::m_cRangeX
protected

Definition at line 154 of file grid.h.

◆ m_cRangeY

template<class ENTITY>
CRange<Real> argos::CGrid< ENTITY >::m_cRangeY
protected

Definition at line 155 of file grid.h.

◆ m_cRangeZ

template<class ENTITY>
CRange<Real> argos::CGrid< ENTITY >::m_cRangeZ
protected

Definition at line 156 of file grid.h.

◆ m_nSizeI

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::m_nSizeI
protected

Definition at line 151 of file grid.h.

◆ m_nSizeJ

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::m_nSizeJ
protected

Definition at line 152 of file grid.h.

◆ m_nSizeK

template<class ENTITY>
SInt32 argos::CGrid< ENTITY >::m_nSizeK
protected

Definition at line 153 of file grid.h.

◆ m_pcUpdateEntityOperation

template<class ENTITY>
CEntityOperation* argos::CGrid< ENTITY >::m_pcUpdateEntityOperation
protected

Definition at line 162 of file grid.h.

◆ m_psCells

template<class ENTITY>
SCell* argos::CGrid< ENTITY >::m_psCells
protected

Definition at line 159 of file grid.h.

◆ m_unCurTimestamp

template<class ENTITY>
size_t argos::CGrid< ENTITY >::m_unCurTimestamp
protected

Definition at line 160 of file grid.h.