Fawkes API  Fawkes Development Version
polygon_node_constraint.h
1 /***************************************************************************
2  * polygon_node_constraint.h - Block nodes inside 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_NODE_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_
23 
24 #include <navgraph/constraints/node_constraint.h>
25 #include <navgraph/constraints/polygon_constraint.h>
26 #include <navgraph/navgraph.h>
27 
28 #include <string>
29 #include <vector>
30 
31 namespace fawkes {
32 
35 {
36 public:
37  NavGraphPolygonNodeConstraint(const std::string &name);
38  NavGraphPolygonNodeConstraint(const std::string &name, const Polygon &polygon);
39 
41 
42  virtual bool compute(void) throw();
43 
44  virtual bool blocks(const fawkes::NavGraphNode &node) throw();
45 };
46 
47 } // end namespace fawkes
48 
49 #endif
Constraint that can be queried to check if a node 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 inside a polygon.
virtual bool compute(void)
Perform compuations before graph search and to indicate re-planning.
virtual bool blocks(const fawkes::NavGraphNode &node)
Check if constraint blocks a node.
virtual ~NavGraphPolygonNodeConstraint()
Virtual empty destructor.
NavGraphPolygonNodeConstraint(const std::string &name)
Constructor.
Fawkes library namespace.