Fawkes API Fawkes Development Version
polygon_edge_constraint.cpp
1/***************************************************************************
2 * polygon_constraint.cpp -
3 *
4 * Created: Mon Jan 19 11:20:31 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#include <navgraph/constraints/polygon_edge_constraint.h>
22
23#include <algorithm>
24
25namespace fawkes {
26
27/** @class NavGraphPolygonEdgeConstraint <navgraph/constraints/polygon_constraint.h>
28 * Constraint that blocks nodes within and edges touching a polygon.
29 * @author Tim Niemueller
30 */
31
32/** Constructor.
33 * @param name name of node constraint
34 */
37{
38}
39
40/** Constructor.
41 * @param name name of node constraint
42 * @param polygon polygon to add immediately
43 */
45 const Polygon & polygon)
47{
48}
49
50/** Virtual empty destructor. */
52{
53}
54
55bool
57{
58 if (!polygons_.empty()) {
59 return true;
60 } else {
61 return false;
62 }
63}
64
65bool
67 const fawkes::NavGraphNode &to) noexcept
68{
69 for (auto p : polygons_) {
70 Point from_p(from.x(), from.y());
71 Point to_p(to.x(), to.y());
72 if (on_poly(from_p, to_p, p.second)) {
73 return true;
74 }
75 }
76
77 return false;
78}
79
80} // end of namespace fawkes
Constraint that can be queried to check if an edge is blocked.
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.
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.
Simple point representation for polygon.