21 #include <navgraph/constraints/polygon_node_constraint.h> 77 Point point(node.x(), node.y());
PolygonMap polygons_
currently registered polygons
virtual ~NavGraphPolygonNodeConstraint()
Virtual empty destructor.
Simple point representation for polygon.
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.
bool in_poly(const Point &point, const Polygon &polygon)
Check if given point lies inside the polygon.
virtual bool blocks(const fawkes::NavGraphNode &node)
Check if constraint blocks a node.