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
31namespace fawkes {
32
35{
36public:
37 NavGraphPolygonEdgeConstraint(const std::string &name);
38 NavGraphPolygonEdgeConstraint(const std::string &name, const Polygon &polygon);
39
41
42 virtual bool compute(void) noexcept;
43
44 virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept;
45};
46
47} // end namespace fawkes
48
49#endif
Constraint that can be queried to check if an edge is blocked.
std::string name()
Get name of constraint.
Topological graph node.
Definition: navgraph_node.h:36
Constraint that blocks nodes within and edges touching a polygon.
std::vector< Point > Polygon
A vector of points makes a polygon.
Constraint that blocks nodes within and edges touching a polygon.
virtual bool blocks(const fawkes::NavGraphNode &from, const fawkes::NavGraphNode &to) noexcept
Check if constraint blocks an edge.
virtual ~NavGraphPolygonEdgeConstraint()
Virtual empty destructor.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
NavGraphPolygonEdgeConstraint(const std::string &name)
Constructor.
Fawkes library namespace.