Fawkes API
Fawkes Development Version
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23 #ifndef _LIBS_NAVGRAPH_GENERATOR_GENERATOR_H_
24 #define _LIBS_NAVGRAPH_GENERATOR_GENERATOR_H_
26 #include <navgraph/navgraph.h>
39 virtual void set_bounding_box(
float bbox_p1_x,
float bbox_p1_y,
float bbox_p2_x,
float bbox_p2_y);
43 static std::string
genname(
unsigned int &i);
56 std::map<std::string, std::string>
params_;
virtual void set_bounding_box(float bbox_p1_x, float bbox_p1_y, float bbox_p2_x, float bbox_p2_y)
Set bounding box.
virtual ~NavGraphGenerator()
Destructor.
Base class for navgraph generators.
float bbox_p2_y_
Y part of P2 for bounding box.
virtual void compute(fawkes::LockPtr< fawkes::NavGraph > graph)=0
Compute graph.
virtual void add_obstacle(float x, float y)
Add an obstacle point.
float bbox_p1_y_
Y part of P1 for bounding box.
bool bbox_enabled_
True if bounding box requested, false otherwise.
float near_threshold_
distance threshold when to consider two nodes to be the same
NavGraphGenerator()
Default constructor.
Fawkes library namespace.
std::list< std::pair< float, float > > obstacles_
Obstacles to consider during navgraph generation.
static std::string genname(unsigned int &i)
Generate a new name.
std::map< std::string, std::string > params_
Parameters specific to the actual generator in a generic format.
float bbox_p1_x_
X part of P1 for bounding box.
float bbox_p2_x_
X part of P2 for bounding box.
virtual void set_near_threshold(float near_threshold)
Set distance threshold for considering nodes to be the same.