21 #ifndef __NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_ 22 #define __NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_ 24 #include <navgraph/constraints/node_constraint.h> 25 #include <navgraph/constraints/polygon_constraint.h> 30 #include <navgraph/navgraph.h> 47 virtual bool compute(
void)
throw();
Constraint that blocks nodes inside a polygon.
virtual ~NavGraphPolygonNodeConstraint()
Virtual empty destructor.
Fawkes library namespace.
std::string name()
Get name of constraint.
NavGraphPolygonNodeConstraint(const std::string &name)
Constructor.
Constraint that blocks nodes within and edges touching a polygon.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
std::vector< Point > Polygon
A vector of points makes a polygon.
Constraint that can be queried to check if a node is blocked.
virtual bool blocks(const fawkes::NavGraphNode &node)
Check if constraint blocks a node.