mission_aligned_cell Class Reference

A directed cell is transformed so that a whole cell is in the first quadrant (x > 0, y > 0) More...

#include <mission_aligned_cell.h>

Public Types
using	corner = utils::corner
using	polygon = utils::polygon
using	transformation = utils::transformation
using	point = utils::point

Public Member Functions
	mission_aligned_cell (corner c, const polygon &poly)
	~mission_aligned_cell ()
std::size_t	waypoint_count () const
	The minimum number of waypoints the cell can be covered by. More...
double	distance (const point &start) const
	The distance from point start to the closest cell waypoint from where path can be constructed. More...
point	build_path (const point &start, std::vector< point > *result) const
	Build mission path. More...

Detailed Description

A directed cell is transformed so that a whole cell is in the first quadrant (x > 0, y > 0)

With the help of the polygon_slicer tool we cover cell with waypoints

Member Typedef Documentation

corner

using mission_aligned_cell::corner = utils::corner

polygon

using mission_aligned_cell::polygon = utils::polygon

transformation

using mission_aligned_cell::transformation = utils::transformation

point

using mission_aligned_cell::point = utils::point

Constructor & Destructor Documentation

mission_aligned_cell()

mission_aligned_cell::mission_aligned_cell ( corner  c, const polygon &  poly  )

explicit

~mission_aligned_cell()

mission_aligned_cell::~mission_aligned_cell ( )

default

Member Function Documentation

waypoint_count()

auto mission_aligned_cell::waypoint_count

(

)

const

The minimum number of waypoints the cell can be covered by.

Note

Zero number of waypoints can be returned in case if the effective cell area is zero, i.e. cell is the result of approximation error

distance()

auto mission_aligned_cell::distance

(

const point &

start

)

const

The distance from point start to the closest cell waypoint from where path can be constructed.

build_path()

auto mission_aligned_cell::build_path	(	const point &	start,
		std::vector< point > *	result
	)		const

Build mission path.

Parameters

start	Starting point of the mission path
result	vector where mission path will be saved

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The documentation for this class was generated from the following files:

• mission_aligned_cell.h
• mission_aligned_cell.cpp