Fawkes API  Fawkes Development Version
fawkes::NavGraphGeneratorVoronoi Class Reference

#include <>>

Inheritance diagram for fawkes::NavGraphGeneratorVoronoi:

Public Member Functions

 NavGraphGeneratorVoronoi ()
 Default constructor. More...
 
virtual ~NavGraphGeneratorVoronoi ()
 Destructor. More...
 
virtual void compute (fawkes::LockPtr< fawkes::NavGraph > graph)
 Compute graph. More...
 
const std::list< Polygon2D > & face_polygons () const
 Get list of polygons. More...
 
- Public Member Functions inherited from fawkes::NavGraphGenerator
 NavGraphGenerator ()
 Default constructor. More...
 
 NavGraphGenerator (std::map< std::string, std::string > params)
 Parametrized constructor. More...
 
virtual ~NavGraphGenerator ()
 Destructor. More...
 
virtual void set_bounding_box (float bbox_p1_x, float bbox_p1_y, float bbox_p2_x, float bbox_p2_y)
 Set bounding box. More...
 
virtual void set_near_threshold (float near_threshold)
 Set distance threshold for considering nodes to be the same. More...
 
virtual void add_obstacle (float x, float y)
 Add an obstacle point. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::NavGraphGenerator
static std::string genname (unsigned int &i)
 Generate a new name. More...
 
- Protected Attributes inherited from fawkes::NavGraphGenerator
bool bbox_enabled_
 True if bounding box requested, false otherwise. More...
 
float bbox_p1_x_
 X part of P1 for bounding box. More...
 
float bbox_p1_y_
 Y part of P1 for bounding box. More...
 
float bbox_p2_x_
 X part of P2 for bounding box. More...
 
float bbox_p2_y_
 Y part of P2 for bounding box. More...
 
float near_threshold_
 distance threshold when to consider two nodes to be the same More...
 
std::list< std::pair< float, float > > obstacles_
 Obstacles to consider during navgraph generation. More...
 
std::map< std::string, std::string > params_
 Parameters specific to the actual generator in a generic format. More...
 

Detailed Description

Generate navgraph using a Voronoi diagram.

Author
Tim Niemueller

Definition at line 37 of file voronoi.h.

Constructor & Destructor Documentation

◆ NavGraphGeneratorVoronoi()

fawkes::NavGraphGeneratorVoronoi::NavGraphGeneratorVoronoi ( )

Default constructor.

Definition at line 64 of file voronoi.cpp.

◆ ~NavGraphGeneratorVoronoi()

fawkes::NavGraphGeneratorVoronoi::~NavGraphGeneratorVoronoi ( )
virtual

Destructor.

Definition at line 69 of file voronoi.cpp.

Member Function Documentation

◆ compute()

◆ face_polygons()

const std::list<Polygon2D>& fawkes::NavGraphGeneratorVoronoi::face_polygons ( ) const
inline

Get list of polygons.

Returns
list of polygons, each polygon contains the vertices of a bounded face of the Voronoi diagram.

Definition at line 55 of file voronoi.h.


The documentation for this class was generated from the following files: