MRPT  1.9.9
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 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

◆ getHeights()

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

Definition at line 41 of file CReactiveNavigationSystem3D.h.

References heights.

◆ getRadius()

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

◆ polygon() [1/2]

◆ polygon() [2/2]

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

Definition at line 38 of file CReactiveNavigationSystem3D.h.

References polygons.

◆ resize()

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

◆ setHeight()

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

◆ setRadius()

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

◆ size()

Member Data Documentation

◆ heights

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

Definition at line 45 of file CReactiveNavigationSystem3D.h.

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

◆ polygons

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

Definition at line 43 of file CReactiveNavigationSystem3D.h.

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

◆ radius

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

Definition at line 44 of file CReactiveNavigationSystem3D.h.

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

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