Mission cell with a particular direction attached to it. More...

#include <mission_directed_cell.h>

Public Types
using	direction = utils::direction

using	polygon = utils::polygon

using	corner = utils::corner

using	transformation = utils::transformation

using	point = utils::point

Public Member Functions
	mission_directed_cell (const direction &dir, const polygon &poly)

	~mission_directed_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
	Distance from `start` to the closest cell. More...

void	build_path (const point &start, std::vector< point > *result)
	Build mission path. More...

Detailed Description

Mission cell with a particular direction attached to it.

For each utils::corner of the cell the mission_aligned_cell instance will be created. Each such instance will be checked for the number of waypoints, and only those with a minimal number of waypoints will be kept. When build_path is called we will use closest instance of mission_aligned_cell for path construction

Member Typedef Documentation

◆ direction

using mission_directed_cell::direction = utils::direction

◆ polygon

using mission_directed_cell::polygon = utils::polygon

◆ corner

using mission_directed_cell::corner = utils::corner

◆ transformation

using mission_directed_cell::transformation = utils::transformation

◆ point

using mission_directed_cell::point = utils::point

Constructor & Destructor Documentation

◆ mission_directed_cell()

mission_directed_cell::mission_directed_cell	(	const direction &	dir,
		const polygon &	poly
	)

explicit

◆ ~mission_directed_cell()

mission_directed_cell::~mission_directed_cell ( )

default

Member Function Documentation

◆ waypoint_count()

auto mission_directed_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_directed_cell::distance ( const point & start ) const

Distance from start to the closest cell.

◆ build_path()

void mission_directed_cell::build_path	(	const point &	start,
		std::vector< point > *	result
	)

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_directed_cell.h
mission_directed_cell.cpp

Public Types

Public Member Functions