Fawkes API  Fawkes Development Version
polygon_edge_constraint.h
1 /***************************************************************************
2  * polygon_constraint.h - Block nodes and edges inside or touching a polygon
3  *
4  * Created: Mon Jan 19 11:14:51 2015 (next to Super-C waiting for demo)
5  * Copyright 2015 Tim Niemueller
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #ifndef _NAVGRAPH_CONSTRAINTS_POLYGON_EDGE_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_POLYGON_EDGE_CONSTRAINT_H_
23 
24 #include <navgraph/constraints/edge_constraint.h>
25 #include <navgraph/constraints/polygon_constraint.h>
26 #include <navgraph/navgraph.h>
27 
28 #include <string>
29 #include <vector>
30 
31 namespace fawkes {
32 
33 class NavGraphPolygonEdgeConstraint : public NavGraphEdgeConstraint,
34  public NavGraphPolygonConstraint
35 {
36 public:
37  NavGraphPolygonEdgeConstraint(const std::string &name);
38  NavGraphPolygonEdgeConstraint(const std::string &name, const Polygon &polygon);
39 
41 
42  virtual bool compute(void) throw();
43 
44  virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) throw();
45 };
46 
47 } // end namespace fawkes
48 
49 #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::NavGraphPolygonEdgeConstraint::NavGraphPolygonEdgeConstraint
NavGraphPolygonEdgeConstraint(const std::string &name)
Constructor.
Definition: polygon_edge_constraint.cpp:40
fawkes::NavGraphPolygonEdgeConstraint::~NavGraphPolygonEdgeConstraint
virtual ~NavGraphPolygonEdgeConstraint()
Virtual empty destructor.
Definition: polygon_edge_constraint.cpp:56
fawkes::NavGraphPolygonEdgeConstraint::blocks
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to)
Definition: polygon_edge_constraint.cpp:71
fawkes
fawkes::NavGraphPolygonEdgeConstraint::compute
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
Definition: polygon_edge_constraint.cpp:61
fawkes::NavGraphEdgeConstraint::name
std::string name()
Get name of constraint.
Definition: edge_constraint.cpp:83