21 #ifndef __NAVGRAPH_CONSTRAINTS_POLYGON_CONSTRAINT_H_ 22 #define __NAVGRAPH_CONSTRAINTS_POLYGON_CONSTRAINT_H_ 24 #include <navgraph/constraints/static_list_node_constraint.h> 25 #include <navgraph/constraints/static_list_edge_constraint.h> 30 #include <navgraph/navgraph.h> 46 Point_(
float x,
float y) : x(x), y(y) {}
62 void clear_polygons();
68 bool in_poly(
const Point &point,
const Polygon &polygon);
75 unsigned int cur_polygon_handle_;
PolygonMap polygons_
currently registered polygons
float x
X coordinate of point.
Simple point representation for polygon.
Fawkes library namespace.
std::map< PolygonHandle, Polygon > PolygonMap
Map for accessing all polygons at once with their handles.
float y
Y coordinate of point.
Constraint that blocks nodes within and edges touching a polygon.
unsigned int PolygonHandle
Handle for polygon for selective removal.
std::vector< Point > Polygon
A vector of points makes a polygon.
Point_(float x, float y)
Constructor.