23 #ifndef __LIBS_NAVGRAPH_GENERATOR_VORONOI_H_ 24 #define __LIBS_NAVGRAPH_GENERATOR_VORONOI_H_ 26 #include <navgraph/navgraph.h> 28 #include <utils/math/polygon.h> 40 float bbox_p2_x,
float bbox_p2_y,
41 float near_threshold);
46 void set_bounding_box(
float bbox_p1_x,
float bbox_p1_y,
47 float bbox_p2_x,
float bbox_p2_y);
48 void set_near_threshold(
float near_threshold);
49 void add_obstacle(
float x,
float y);
66 float near_threshold_;
68 std::list<std::pair<float, float>> obstacles_;
69 std::list<Polygon2D> polygons_;
Fawkes library namespace.
const std::list< Polygon2D > & face_polygons() const
Get list of polygons.
Generate navgraph using a Voronoi diagram.