mission_polygon Class Reference

Class to build (x, y) mission path based on input polygon and home. More...

#include <mission_polygon.h>

Public Types
using	kernel = CGAL::Exact_predicates_exact_constructions_kernel
using	traits = CGAL::Arr_segment_traits_2< kernel >
using	segment = traits::Segment_2
using	point = kernel::Point_2
using	arrangement = CGAL::Arrangement_2< traits >

Public Member Functions
	mission_polygon (const utils::polygon &poly)
	~mission_polygon ()
std::vector< utils::point >	make (const utils::point &home)
	Build mission math. More...

Detailed Description

Class to build (x, y) mission path based on input polygon and home.

Initial polygon will be decomposed into simple polygons and further processed in mission_simple_polygon class. Then output mission path from mission_simple_polygon will be combined back into full mission path.

Example of a polygon showing a self-intersection shape. Here, polygon {A0, A1, A2, A3, A4, A5, A6} will be split into two polygons: {A0, A1, A2, B} and {A3, A4, A5, A6, B}.

Member Typedef Documentation

kernel

using mission_polygon::kernel = CGAL::Exact_predicates_exact_constructions_kernel

traits

using mission_polygon::traits = CGAL::Arr_segment_traits_2<kernel>

segment

using mission_polygon::segment = traits::Segment_2

point

using mission_polygon::point = kernel::Point_2

arrangement

using mission_polygon::arrangement = CGAL::Arrangement_2<traits>

Constructor & Destructor Documentation

mission_polygon()

mission_polygon::mission_polygon ( const utils::polygon &  poly )

explicit

Parameters

poly	(x, y) input polygon

~mission_polygon()

mission_polygon::~mission_polygon ( )

default

Member Function Documentation

make()

auto mission_polygon::make

(

const utils::point &

home

)

Build mission math.

Here is the call graph for this function:

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

• mission_polygon.h
• mission_polygon.cpp