Package me.wobblyyyy.pathfinder.geometry

Interface Zone

All Known Implementing Classes:
FieldZoneFRC, FieldZoneFTC
public interface Zone
A zone is any two-dimensional area in which another two-dimensional entity can be within.

Zones are the very core of maps and field maps - each zone represents a different portion of the field. It's worth noting and observing: zones are VERY expensive to check. By this, I mean collision checking and avoidance. When the pathfinding core is initially spun up, it checks every possible point against every single zone as a method of ensuring that no potential collisions occur. Although a more efficient way of doing this is ABSOLUTELY needed in the future, for now, you'll just have to live with it. If you do end up creating a zone for some reason, but you don't want it to slow down collision checking and the robot's initialization, you can make sure that the isSolid flag is set to FALSE.

As with the Rectangles code, this shit is seriously outdated. If you have the time, a documentation refresh or reformat would be much appreciated.

Zones are immobile, meaning once they are defined, they can not be re-defined without entirely deleting the zone and creating a new one. Because zones are generally just different areas of the field, they shouldn't need to be redefined anyways. But, if, for whatever reason, you have a very strong desire to have them redefined, you can just go ahead and make another one.

In the context of field mapping, zones allow us to do some pretty cool things, such as...

  • Dynamically adjust speed multipliers based on location.
  • Automatically perform certain operations when near targets.
  • Show the driver, via telemetry, where they are.
  • Automatically line the robot up to perform certain tasks.
... and much more. I'm not here to tell you what to do with zones - rather, I'm here to give you some god-awful documentation as to how they function, so you can use them to the best of your ability. You poor soul.

Since:
0.1.0
Author:
Colin Robertson

  • Method Summary

    Modifier and Type Method Description
    int getComponents()
    Get the total count of components.
    double getDriveSpeedMultiplier()
    Just in case you wanted to have certain zones automatically change the speed at which the robot drives at.
    java.lang.String getName()
    Get the name of the specific zone.
    Shape getParentShape()
    Get the "parent shape" of the zone.
    int getZonePriority()
    The priority of the zone - read the rest of this JavaDoc to understand.
    default boolean isPointInZone​(Point point)
    Check whether or not a given point is in a zone.
    boolean isSolid()
    Is the zone a solid?

  • Method Details

    • getName

      java.lang.String getName()
      Get the name of the specific zone.

      Zone names don't matter... at all, really. They mattered in the first release of Pathfinder, as zone collisions made use of String keys for a reason I couldn't possibly explain. But they don't anymore. You can really just make the name whatever you'd like, but for the sake of consistency and clean code, I name all of my zones after the class name.

      Returns:
      the name of the zone.

    • getParentShape

      Shape getParentShape()
      Get the "parent shape" of the zone.

      A "parent shape" is quite literally just a regular shape. Zones are based on shapes, and parent shapes are those shapes. You could, for example, have a rectangular zone name "Zone_A." Zone A's parent shape would be considered the rectangle which Zone A uses to define it's boundaries.

      Returns:
      a parent shape.

    • getZonePriority

      int getZonePriority()
      The priority of the zone - read the rest of this JavaDoc to understand.

      Each and every zone has a priority. A priority is just how important that zone is compared to other zones. Higher priorities are more important than lower ones - for example, if the robot is in two zones at once (the main field zone, and, say, an objective zone) and the main zone has a priority of 0 compared to the objective zone's priority of 1, the objective zone's priority will override that of the main zone. If the objective zone has a speed multiplier which is higher or lower than the main zone's multiplier, that new multiplier will override the current one.

      Returns:
      the zone's priority.

    • isPointInZone

      default boolean isPointInZone​(Point point)
      Check whether or not a given point is in a zone.

      As a default boolean, this basically CCs the check whether or not the point is in the zone to the parent shape, which will actually determine whether or not the point is contained in the shape/zone.

      Parameters:
      point - the point to check
      Returns:
      whether ot the point is in the zone or not

    • getDriveSpeedMultiplier

      double getDriveSpeedMultiplier()
      Just in case you wanted to have certain zones automatically change the speed at which the robot drives at.
      Returns:
      a drive speed multiplier

    • getComponents

      int getComponents()
      Get the total count of components.

      Countable components include things like lines and arcs. Note that component counts have all but no utility, save debugging (or flexing) purposes. You know how showing off how hard you can push the engine of your shitty little car you got from your grandparents for $3,000 is some kind of flex? In the same way, showing off how many virtually-rendered components your FTC code can have is a flex as well.

      Returns:
      how many components there are, in total

    • isSolid

      boolean isSolid()
      Is the zone a solid?

      Non-solid zones are sorted out during the pathfinding core's initialization stage in order to reduce the price of checking for potential collisions.

      Solid objects can't be collided with, meaning that the pathfinder will automatically navigate around them. Additionally, solid objects won't be collision-checked against each other, as any collisions between them are intentional and can't be changed with the robot.

      Returns:
      whether or not the zone is solid.