navlib::Shape Class Reference
Abstract parent class for any 2D shape that has a closed boundary. More...
#include <geometry.h>
Inheritance diagram for navlib::Shape:
Public Member Functions | |
| virtual std::vector< Segment > | clip (std::vector< Segment > segments)=0 |
| Returns all line segments that reside inside this shape's boundary. | |
| virtual bool | contains (Point &p) const =0 |
| Determines if the given point resides within this shape's boundary. | |
| virtual bool | collides (std::vector< Segment > segments) |
| Determines if this shape collides with another one. | |
| virtual Circle | getBoundingCircle () |
| Returns the smallest circle that encloses the shape. | |
| virtual double | getDistance (std::vector< Point > points) |
| Returns the distance from the shape boundary to a list of points. | |
| virtual std::vector< Point > | getPoints () const =0 |
| Returns a set of points that form the shape boundary. | |
| virtual Pose | getPose () const =0 |
| Returns the shape's pose. | |
| virtual std::vector< Segment > | getSegments () const |
| Returns a set of line segments that form the shape boundary. | |
| void | globalize (const Pose &pose) |
| Transforms this shape into the world frame of reference. | |
| void | localize (const Pose &pose) |
| Transforms this shape into the local to a frame of reference. | |
| virtual void | setPose (const Pose &pose)=0 |
| Sets the shape's pose. | |
Detailed Description
Abstract parent class for any 2D shape that has a closed boundary.The documentation for this class was generated from the following files:
- geometry.h
- geometry.cpp
