lejos.robotics.geometry

Class Line

java.lang.Object

lejos.robotics.geometry.Line2D

lejos.robotics.geometry.Line2D.Float

lejos.robotics.geometry.Line

All Implemented Interfaces:

java.lang.Cloneable, Shape

public class Line
extends Line2D.Float

Represents a line and supports calculating the point of intersection of two line segments.

Author:

Lawrie Griffiths

WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS. DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.

Nested Class Summary

Nested classes/interfaces inherited from class lejos.robotics.geometry.Line2D

Line2D.Double, Line2D.Float

Field Summary

Fields inherited from class lejos.robotics.geometry.Line2D.Float

x1, x2, y1, y2

Constructor Summary

Constructors

Constructor and Description
Line(float x1, float y1, float x2, float y2)

Method Summary

Modifier and Type	Method and Description
Point	getP1() Get the start point of the line as a Point2D
Point	getP2() Get the end point of the line as a Point2D
Point	intersectsAt(Line l) Calculate the point of intersection of two lines.
float	length() Return the length of the line
void	lengthen(float delta) Make this line longer by an amount delta at each end.
double	segDist(Line seg) Returns the minimum distance between two line segments--this line segment and another.

Methods inherited from class lejos.robotics.geometry.Line2D.Float

getBounds2D, getX1, getX2, getY1, getY2, setLine, setLine

Methods inherited from class lejos.robotics.geometry.Line2D

clone, contains, contains, contains, contains, getBounds, intersects, intersects, intersectsLine, intersectsLine, linesIntersect, ptSegDist, ptSegDist, ptSegDist, ptSegDistSq, ptSegDistSq, ptSegDistSq, relativeCCW, relativeCCW, relativeCCW, setLine, setLine

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Line

public Line(float x1,
            float y1,
            float x2,
            float y2)

Method Detail

intersectsAt

public Point intersectsAt(Line l)

Calculate the point of intersection of two lines.

Parameters:

l - the second line

Returns:

the point of intersection or null if the lines do not intercept or are coincident

segDist

public double segDist(Line seg)

Returns the minimum distance between two line segments--this line segment and another. If they intersect the distance is 0. Lines can be parallel or skewed (non-parallel).

Parameters:

seg - The other line segment.

Returns:

The distance between the two line segments.

lengthen

public void lengthen(float delta)

Make this line longer by an amount delta at each end. Used by DijkstraPathFinder to use the same LineMap as the a RangeScanner in MCL navigation.

Parameters:

delta - the amount added to each end

length

public float length()

Return the length of the line

Returns:

the length of the line

getP1

public Point getP1()

Description copied from class: Line2D

Get the start point of the line as a Point2D

Overrides:

getP1 in class Line2D.Float

Returns:

the Point2D

getP2

public Point getP2()

Description copied from class: Line2D

Get the end point of the line as a Point2D

Overrides:

getP2 in class Line2D.Float

Returns:

the Point2D