Fawkes API
Fawkes Development Version
polygon_node_constraint.cpp
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/***************************************************************************
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* polygon_node_constraint.cpp - Block nodes inside a polygon
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*
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* Created: Mon Jan 19 11:20:31 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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#include <navgraph/constraints/polygon_node_constraint.h>
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#include <algorithm>
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namespace
fawkes
{
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/** @class NavGraphPolygonNodeConstraint <navgraph/constraints/polygon_constraint.h>
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* Constraint that blocks nodes inside a polygon.
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* @author Tim Niemueller
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*/
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/** Constructor.
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* @param name name of node constraint
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*/
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NavGraphPolygonNodeConstraint::NavGraphPolygonNodeConstraint
(
const
std::string &name)
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: NavGraphNodeConstraint(name)
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{
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}
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/** Constructor.
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* @param name name of node constraint
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* @param polygon polygon to add immediately
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*/
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NavGraphPolygonNodeConstraint::NavGraphPolygonNodeConstraint
(
const
std::string &name,
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const
Polygon
& polygon)
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:
NavGraphNodeConstraint
(name),
NavGraphPolygonConstraint
(polygon)
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{
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}
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/** Virtual empty destructor. */
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NavGraphPolygonNodeConstraint::~NavGraphPolygonNodeConstraint
()
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{
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}
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bool
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NavGraphPolygonNodeConstraint::compute
(
void
)
throw
()
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{
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if
(!polygons_.empty()) {
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return
true
;
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}
else
{
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return
false
;
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}
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}
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bool
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NavGraphPolygonNodeConstraint::blocks
(
const
fawkes::NavGraphNode
&node)
throw
()
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{
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for
(
auto
p : polygons_) {
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Point point(node.x(), node.y());
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if
(in_poly(point, p.second)) {
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return
true
;
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}
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}
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return
false
;
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}
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}
// end of namespace fawkes
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
Definition:
node_constraint.h:40
fawkes
fawkes::NavGraphPolygonConstraint
Definition:
polygon_constraint.h:38
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.cpp
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