Fawkes API Fawkes Development Version
polygon_node_constraint.cpp
1/***************************************************************************
2 * polygon_node_constraint.cpp - Block nodes inside a polygon
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_node_constraint.h>
22
23#include <algorithm>
24
25namespace fawkes {
26
27/** @class NavGraphPolygonNodeConstraint <navgraph/constraints/polygon_constraint.h>
28 * Constraint that blocks nodes inside 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{
68 for (auto p : polygons_) {
69 Point point(node.x(), node.y());
70 if (in_poly(point, p.second)) {
71 return true;
72 }
73 }
74
75 return false;
76}
77
78} // end of namespace fawkes
Constraint that can be queried to check if a node 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 ~NavGraphPolygonNodeConstraint()
Virtual empty destructor.
virtual bool compute(void) noexcept
Perform compuations before graph search and to indicate re-planning.
virtual bool blocks(const fawkes::NavGraphNode &node) noexcept
Check if constraint blocks a node.
NavGraphPolygonNodeConstraint(const std::string &name)
Constructor.
Fawkes library namespace.
Simple point representation for polygon.