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Public Member Functions

 PolyWorld (const std::string &worldName, const std::pair< double, double > &xBounds, const std::pair< double, double > &yBounds)
 
const std::string & worldName () const
 
std::pair< double, double > xBounds () const
 
std::pair< double, double > yBounds () const
 
size_t numObstacles () const
 
const std::vector< ConvexPolygon > & obstacles () const
 
const ConvexPolygonobstacle (size_t i) const
 
void addObstacle (const ConvexPolygon &polygon)
 
bool outOfBounds (Point p) const
 
bool pointCollisionFree (Point p) const
 
void writeWorld (const char *filename) const
 

Protected Attributes

std::string worldName_
 
std::vector< std::pair< double, double > > bounds_
 
std::vector< ConvexPolygonobstacles_
 

Detailed Description

Definition at line 80 of file PolyWorld.h.

Constructor & Destructor Documentation

◆ PolyWorld()

PolyWorld::PolyWorld ( const std::string &  worldName,
const std::pair< double, double > &  xBounds,
const std::pair< double, double > &  yBounds 
)

Definition at line 144 of file PolyWorld.cpp.

Member Function Documentation

◆ addObstacle()

void PolyWorld::addObstacle ( const ConvexPolygon polygon)

Definition at line 188 of file PolyWorld.cpp.

◆ numObstacles()

size_t PolyWorld::numObstacles ( ) const

Definition at line 172 of file PolyWorld.cpp.

◆ obstacle()

const ConvexPolygon & PolyWorld::obstacle ( size_t  i) const

Definition at line 182 of file PolyWorld.cpp.

◆ obstacles()

const std::vector< ConvexPolygon > & PolyWorld::obstacles ( ) const

Definition at line 177 of file PolyWorld.cpp.

◆ outOfBounds()

bool PolyWorld::outOfBounds ( Point  p) const

Definition at line 193 of file PolyWorld.cpp.

◆ pointCollisionFree()

bool PolyWorld::pointCollisionFree ( Point  p) const

Definition at line 199 of file PolyWorld.cpp.

◆ worldName()

const std::string & PolyWorld::worldName ( ) const

Definition at line 155 of file PolyWorld.cpp.

◆ writeWorld()

void PolyWorld::writeWorld ( const char *  filename) const

Definition at line 209 of file PolyWorld.cpp.

◆ xBounds()

std::pair< double, double > PolyWorld::xBounds ( ) const

Definition at line 160 of file PolyWorld.cpp.

◆ yBounds()

std::pair< double, double > PolyWorld::yBounds ( ) const

Definition at line 166 of file PolyWorld.cpp.

Member Data Documentation

◆ bounds_

std::vector<std::pair<double, double> > PolyWorld::bounds_
protected

Definition at line 109 of file PolyWorld.h.

◆ obstacles_

std::vector<ConvexPolygon> PolyWorld::obstacles_
protected

Definition at line 111 of file PolyWorld.h.

◆ worldName_

std::string PolyWorld::worldName_
protected

Definition at line 108 of file PolyWorld.h.


The documentation for this class was generated from the following files: