Fawkes API
Fawkes Development Version
polygon_node_constraint.h
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/***************************************************************************
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* polygon_node_constraint.h - Block nodes inside a polygon
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*
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* Created: Mon Jan 19 11:14:51 2015 (next to Super-C waiting for demo)
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* Copyright 2015 Tim Niemueller
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_
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#define _NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_
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#include <navgraph/constraints/node_constraint.h>
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#include <navgraph/constraints/polygon_constraint.h>
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#include <navgraph/navgraph.h>
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#include <string>
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#include <vector>
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namespace
fawkes
{
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class
NavGraphPolygonNodeConstraint :
public
NavGraphNodeConstraint,
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public
NavGraphPolygonConstraint
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{
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public
:
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NavGraphPolygonNodeConstraint
(
const
std::string &
name
);
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NavGraphPolygonNodeConstraint
(
const
std::string &
name
,
const
Polygon
&polygon);
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virtual
~NavGraphPolygonNodeConstraint
();
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virtual
bool
compute
(
void
)
throw
();
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virtual
bool
blocks
(
const
fawkes::NavGraphNode
&node)
throw
();
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};
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}
// end namespace fawkes
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#endif
fawkes::NavGraphNode
Definition:
navgraph_node.h:40
fawkes::NavGraphPolygonConstraint::Polygon
std::vector< Point > Polygon
A vector of points makes a polygon.
Definition:
polygon_constraint.h:62
fawkes::NavGraphPolygonNodeConstraint::blocks
virtual bool blocks(const fawkes::NavGraphNode &node)
Definition:
polygon_node_constraint.cpp:71
fawkes::NavGraphPolygonNodeConstraint::~NavGraphPolygonNodeConstraint
virtual ~NavGraphPolygonNodeConstraint()
Virtual empty destructor.
Definition:
polygon_node_constraint.cpp:56
fawkes::NavGraphPolygonNodeConstraint::NavGraphPolygonNodeConstraint
NavGraphPolygonNodeConstraint(const std::string &name)
Constructor.
Definition:
polygon_node_constraint.cpp:40
fawkes::NavGraphNodeConstraint::name
std::string name()
Get name of constraint.
Definition:
node_constraint.cpp:75
fawkes
fawkes::NavGraphPolygonNodeConstraint::compute
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
Definition:
polygon_node_constraint.cpp:61
src
libs
navgraph
constraints
polygon_node_constraint.h
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