23 #ifndef __LIBS_NAVGRAPH_GENERATOR_VORONOI_H_ 24 #define __LIBS_NAVGRAPH_GENERATOR_VORONOI_H_ 26 #include <navgraph/navgraph.h> 28 #include <utils/math/polygon.h> 40 float bbox_p2_x,
float bbox_p2_y,
41 float near_threshold);
47 float bbox_p2_x,
float bbox_p2_y);
66 float near_threshold_;
68 std::list<std::pair<float, float>> obstacles_;
69 std::list<Polygon2D> polygons_;
Fawkes library namespace.
void set_bounding_box(float bbox_p1_x, float bbox_p1_y, float bbox_p2_x, float bbox_p2_y)
Set bounding box.
void add_obstacle(float x, float y)
Add an obstacle point.
const std::list< Polygon2D > & face_polygons() const
Get list of polygons.
void set_near_threshold(float near_threshold)
Set distance threshold for considering nodes to be the same.
Generate navgraph using a Voronoi diagram.
virtual ~NavGraphGeneratorVoronoi()
Destructor.
virtual void compute(fawkes::LockPtr< fawkes::NavGraph > graph)
Compute graph.
void clear()
Clear all obstacle points.
NavGraphGeneratorVoronoi()
Default constructor.