mission_simple_polygon Class Reference

Mission polygon without self-intersections. More...

#include <mission_simple_polygon.h>

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

Public Member Functions
	mission_simple_polygon (const polygon &poly)
	~mission_simple_polygon ()
bool	visited () const
	Once the build_path is used the instance is marked as visited. More...
double	distance (const point &start) const
	The distance from point start to the closest polygon waypoint from where path can be constructed. More...
void	build_path (const point &start, std::vector< point > *result)
	Build mission path. More...
std::size_t	waypoint_count () const
	The minimum number of waypoints the polygon can be covered by. More...

Detailed Description

Mission polygon without self-intersections.

For each edge of the polygon the mission_directed_polygon 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_directed_polygon for path construction

E.g., the simple polygon {A0, A1, A2, A3, A4} will produce five instances of the directed polygons, shown below by the red arrows.

Member Typedef Documentation

polygon

using mission_simple_polygon::polygon = utils::polygon

point

using mission_simple_polygon::point = utils::point

Constructor & Destructor Documentation

mission_simple_polygon()

mission_simple_polygon::mission_simple_polygon ( const polygon &  poly )

explicit

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~mission_simple_polygon()

mission_simple_polygon::~mission_simple_polygon ( )

default

Member Function Documentation

visited()

auto mission_simple_polygon::visited

(

)

const

Once the build_path is used the instance is marked as visited.

Returns

true build_path is called already

false build_path is not called yet

distance()

auto mission_simple_polygon::distance

(

const point &

start

)

const

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

build_path()

void mission_simple_polygon::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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waypoint_count()

auto mission_simple_polygon::waypoint_count

(

)

const

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

Note

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

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

• mission_simple_polygon.h
• mission_simple_polygon.cpp