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