File contains Node, Point, Line, Vertex, ObstacleSegment classes and some methods and functions implementations. More...
#include <cmath>#include <vector>#include <string>#include <cstddef>#include <tuple>#include "Const.h"
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Classes | |
| class | Line |
| The class defines a line in 2D space. More... | |
| class | Node |
| The Node class defines a cell of grid (see Map class) More... | |
| class | ObstacleSegment |
| The ObstacleSegment class defines an edge of an obstacle polygon. More... | |
| class | Point |
| The Point class defines a position (or euclidean vector from (0,0)) in 2D space. More... | |
| class | Vertex |
| The Vertex class defines a vertex of an obstacle polygon. More... | |
Namespaces | |
| Utils | |
| The set of utility functions. | |
Functions | |
| template<typename T > | |
| bool | Utils::Less (std::pair< float, T > a, std::pair< float, T > b) |
| Comparison function for pairs of the form <float, T> For sorting purposes. More... | |
| bool | Utils::linearProgram1 (const std::vector< Line > &lines, unsigned long curr, float radius, const Vector &optVelocity, bool directionOpt, Vector &result) |
| Solves a one-dimensional linear program on a specified line subject to linear constraints defined by lines and a circular constraint. More... | |
| unsigned long int | Utils::linearProgram2 (const std::vector< Line > &lines, float radius, const Vector &optVelocity, bool directionOpt, Vector &result) |
| Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More... | |
| void | Utils::linearProgram3 (const std::vector< Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector &result) |
| Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More... | |
| template<typename T > | |
| bool | Utils::More (std::pair< float, T > a, std::pair< float, T > b) |
| Comparison function for pairs of the form <float, T> For sorting purposes. More... | |
| float | Utils::SqPointSegDistance (Point L1, Point L2, Point P) |
| Computes squared euclidean distance from point to line segment. More... | |