21 #ifndef _NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_
22 #define _NAVGRAPH_CONSTRAINTS_POLYGON_NODE_CONSTRAINT_H_
24 #include <navgraph/constraints/node_constraint.h>
25 #include <navgraph/constraints/polygon_constraint.h>
26 #include <navgraph/navgraph.h>
42 virtual bool compute(
void) noexcept;
Constraint that can be queried to check if a node is blocked.
std::string name()
Get name of constraint.
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 ~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.