crossing.h

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/*
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#ifndef CROSSING_H
#define CROSSING_H

#include <ros/ros.h>
#include <tuw_voronoi_graph/segment.h>


namespace tuw_graph
{
    class Crossing
    {
        public:
            
            Crossing(const std::vector<Eigen::Vector2d> &_segment_points);
            bool tryAddSegment(Segment &_seg);
            Eigen::Vector2d getCenter() const;
            void setSegmentReference(const std::shared_ptr<std::vector<Segment>> &segs);
        private:
            std::vector<Eigen::Vector2d> surroundingPoints_;
            std::vector<uint32_t> segments_start_;
            std::vector<uint32_t> segments_end_;
            Eigen::Vector2d center_;
            std::shared_ptr<std::vector<Segment>> segmentReference_;
    };
}

#endif // PLANNER_NODE_H