Program Listing for File Profile.hpp
↰ Return to documentation for file (/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/Profile.hpp
)
/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* 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 RMF_TRAFFIC__PROFILE_HPP
#define RMF_TRAFFIC__PROFILE_HPP
#include <rmf_traffic/geometry/ConvexShape.hpp>
#include <rmf_utils/optional.hpp>
#include <rmf_utils/impl_ptr.hpp>
namespace rmf_traffic {
//==============================================================================
class Profile
{
public:
Profile(
geometry::ConstFinalConvexShapePtr footprint,
geometry::ConstFinalConvexShapePtr vicinity = nullptr);
bool operator==(const Profile& rhs) const;
Profile& footprint(geometry::ConstFinalConvexShapePtr shape);
const geometry::ConstFinalConvexShapePtr& footprint() const;
Profile& vicinity(geometry::ConstFinalConvexShapePtr shape);
const geometry::ConstFinalConvexShapePtr& vicinity() const;
class Implementation;
private:
rmf_utils::impl_ptr<Implementation> _pimpl;
};
} // namespace rmf_traffic
#endif // RMF_TRAFFIC__PROFILE_HPP