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mrpt::nav::TRobotShape Struct Reference

Detailed Description

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.

Definition at line 22 of file nav/reactive/CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Public Member Functions

size_t size () const
 
void resize (size_t num_levels)
 
const mrpt::math::CPolygonpolygon (size_t level) const
 
const double & getRadius (size_t level) const
 
const double & getHeight (size_t level) const
 
mrpt::math::CPolygonpolygon (size_t level)
 
void setRadius (size_t level, double r)
 
void setHeight (size_t level, double h)
 
const std::vector< double > & getHeights () const
 

Private Attributes

std::vector< mrpt::math::CPolygonpolygons
 
std::vector< double > radius
 
std::vector< double > heights
 

Member Function Documentation

◆ getHeight()

const double& mrpt::nav::TRobotShape::getHeight ( size_t  level) const
inline

◆ getHeights()

const std::vector<double>& mrpt::nav::TRobotShape::getHeights ( ) const
inline

Definition at line 39 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ getRadius()

const double& mrpt::nav::TRobotShape::getRadius ( size_t  level) const
inline

◆ polygon() [1/2]

const mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level) const
inline

◆ polygon() [2/2]

mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level)
inline

Definition at line 35 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ resize()

void mrpt::nav::TRobotShape::resize ( size_t  num_levels)
inline

◆ setHeight()

void mrpt::nav::TRobotShape::setHeight ( size_t  level,
double  h 
)
inline

◆ setRadius()

void mrpt::nav::TRobotShape::setRadius ( size_t  level,
double  r 
)
inline

◆ size()

size_t mrpt::nav::TRobotShape::size ( ) const
inline

Member Data Documentation

◆ heights

std::vector<double> mrpt::nav::TRobotShape::heights
private

Definition at line 43 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ polygons

std::vector<mrpt::math::CPolygon> mrpt::nav::TRobotShape::polygons
private

Definition at line 41 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ radius

std::vector<double> mrpt::nav::TRobotShape::radius
private

Definition at line 42 of file nav/reactive/CReactiveNavigationSystem3D.h.




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