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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 24 of file 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 43 of file CReactiveNavigationSystem3D.h.

References heights.

◆ 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 40 of file CReactiveNavigationSystem3D.h.

References polygons.

◆ 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 47 of file CReactiveNavigationSystem3D.h.

Referenced by getHeight(), getHeights(), resize(), and setHeight().

◆ polygons

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

Definition at line 45 of file CReactiveNavigationSystem3D.h.

Referenced by polygon(), resize(), and size().

◆ radius

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

Definition at line 46 of file CReactiveNavigationSystem3D.h.

Referenced by getRadius(), resize(), and setRadius().




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