23 #include <core/exception.h>
24 #include <navgraph/generators/generator.h>
57 : bbox_enabled_(false),
70 : bbox_enabled_(false),
75 near_threshold_(0.01),
93 if (asprintf(&name,
"V_%02u", ++i) != -1) {
94 std::string rv = name;
98 throw Exception(
"Failed to create node name");
Base class for exceptions in Fawkes.
virtual void add_obstacle(float x, float y)
Add an obstacle point.
float bbox_p1_x_
X part of P1 for bounding box.
float bbox_p2_x_
X part of P2 for bounding box.
std::list< std::pair< float, float > > obstacles_
Obstacles to consider during navgraph generation.
bool bbox_enabled_
True if bounding box requested, false otherwise.
virtual void set_near_threshold(float near_threshold)
Set distance threshold for considering nodes to be the same.
static std::string genname(unsigned int &i)
Generate a new name.
float bbox_p1_y_
Y part of P1 for bounding box.
NavGraphGenerator()
Default constructor.
virtual ~NavGraphGenerator()
Destructor.
float bbox_p2_y_
Y part of P2 for bounding box.
float near_threshold_
distance threshold when to consider two nodes to be the same
virtual void set_bounding_box(float bbox_p1_x, float bbox_p1_y, float bbox_p2_x, float bbox_p2_y)
Set bounding box.
Fawkes library namespace.