#include <ZoneOps.h>
Public Member Functions | |
void | build_graph (const ObstacleList &obstacles, const MapXY &start) |
WayPointNodeList | path_through_zone (const ObstacleList &obstacles, MapXY start, MapXY end) |
ZoneManager (const ZonePerimeter &_zone, float _safety_radius, float _scale, int _max_cells, bool _write_graph, ElementID _starting_id, MapXY _lower_left, MapXY _upper_right) | |
Public Attributes | |
ElementID | starting_id |
Private Attributes | |
WayPointEdgeList | edges |
MapXY | ll |
WayPointNodeList | nodes |
std::vector< MapXY > | perimeter_points |
float | safety_radius |
float | scale |
MapXY | ur |
bool | write_graph |
ZonePerimeter | zone |
ZoneManager::ZoneManager | ( | const ZonePerimeter & | _zone, |
float | _safety_radius, | ||
float | _scale, | ||
int | _max_cells, | ||
bool | _write_graph, | ||
ElementID | _starting_id, | ||
MapXY | _lower_left, | ||
MapXY | _upper_right | ||
) |
Definition at line 18 of file ZoneOps.cc.
void ZoneManager::build_graph | ( | const ObstacleList & | obstacles, |
const MapXY & | start | ||
) |
WayPointNodeList ZoneManager::path_through_zone | ( | const ObstacleList & | obstacles, |
MapXY | start, | ||
MapXY | end | ||
) |
WayPointEdgeList ZoneManager::edges [private] |
MapXY ZoneManager::ll [private] |
WayPointNodeList ZoneManager::nodes [private] |
std::vector<MapXY> ZoneManager::perimeter_points [private] |
float ZoneManager::safety_radius [private] |
float ZoneManager::scale [private] |
MapXY ZoneManager::ur [private] |
bool ZoneManager::write_graph [private] |
ZonePerimeter ZoneManager::zone [private] |