Program Listing for File circle.hpp

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// Copyright (c) 2022 Samsung R&D Institute Russia
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_COLLISION_MONITOR__CIRCLE_HPP_
#define NAV2_COLLISION_MONITOR__CIRCLE_HPP_

#include <memory>
#include <vector>
#include <string>

#include "nav2_collision_monitor/polygon.hpp"

namespace nav2_collision_monitor
{

class Circle : public Polygon
{
public:
  Circle(
    const nav2_util::LifecycleNode::WeakPtr & node,
    const std::string & polygon_name,
    const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    const std::string & base_frame_id,
    const tf2::Duration & transform_tolerance);
  ~Circle();

  void getPolygon(std::vector<Point> & poly) const override;

  int getPointsInside(const std::vector<Point> & points) const override;

  bool isShapeSet() override {return true;}

protected:
  bool getParameters(
    std::string & polygon_sub_topic,
    std::string & polygon_pub_topic,
    std::string & footprint_topic) override;

  // ----- Variables -----

  double radius_;
  double radius_squared_;
};  // class Circle

}  // namespace nav2_collision_monitor

#endif  // NAV2_COLLISION_MONITOR__CIRCLE_HPP_