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