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

#include <mission_directed_polygon.h>

Public Types
using	kernel = CGAL::Exact_predicates_exact_constructions_kernel

using	polygon = CGAL::Polygon_2< kernel >

Public Member Functions
	mission_directed_polygon (const utils::direction &dir, const utils::polygon &polygon)

	~mission_directed_polygon ()

std::size_t	waypoint_count () const

double	distance (const utils::point &start) const
	Distance from `start` to the closest cell. More...

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

Detailed Description

Mission polygon with a particular direction attached to it.

Polygon will be transformed in a way that attached direction became vertical. Then vertical decomposition algorithm will be applied to split polygon into trapezoids and rectangles, collectively called mission_cell

Considering the direct polygon above: {A0, A1, A2, A3, A4} and vector {A4, A0}, it can be decomposed into cells: {A0, A3', A3, A4}, {A1, A1', A3, A3'} and {A1, A1', A2}

Member Typedef Documentation

◆ kernel

using mission_directed_polygon::kernel = CGAL::Exact_predicates_exact_constructions_kernel

◆ polygon

using mission_directed_polygon::polygon = CGAL::Polygon_2<kernel>

Constructor & Destructor Documentation

◆ mission_directed_polygon()

mission_directed_polygon::mission_directed_polygon	(	const utils::direction &	dir,
		const utils::polygon &	polygon
	)

explicit

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◆ ~mission_directed_polygon()

mission_directed_polygon::~mission_directed_polygon ( )

default

Member Function Documentation

◆ waypoint_count()

auto mission_directed_polygon::waypoint_count ( ) const

Returns: Total number of waypoints in all the cells

◆ distance()

auto mission_directed_polygon::distance ( const utils::point & start ) const

Distance from start to the closest cell.

◆ build_path()

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

Build mission path.

Parameters

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