struct mrpt::nav::TRobotShape
Overview
A 3D robot shape stored as a “sliced” stack of 2D polygons, used for CReactiveNavigationSystem3D Depending on each PTG, only the 2D polygon or the circular radius will be taken into account.
#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h> struct TRobotShape { // methods size_t size() const; void resize(size_t num_levels); const mrpt::math::CPolygon& polygon(size_t level) const; double getRadius(size_t level) const; double getHeight(size_t level) const; mrpt::math::CPolygon& polygon(size_t level); void setRadius( size_t level, double r ); void setHeight( size_t level, double h ); const std::vector<double>& getHeights() const; };