Obstacles class for RRT* Star Implementation. More...

#include <obstacles.h>

Public Member Functions
	RRTObstacles ()

void	addObstacle (double radius, Vector2f secondPoint)
	Obstacles are stored as circles. Circles is denoted by center point and radius. More...

bool	isSegmentInObstacle (Vector2f &p1, Vector2f &p2)
	Check if a line segment intersects a rectangle. More...

Detailed Description

Obstacles class for RRT* Star Implementation.

Constructor & Destructor Documentation

RRTObstacles::RRTObstacles ( )

void RRTObstacles::addObstacle	(	double	radius,
		Vector2f	centerPoint
	)

Obstacles are stored as circles. Circles is denoted by center point and radius.

Parameters

radius
centerPoint

bool RRTObstacles::isSegmentInObstacle	(	Vector2f &	p1,
		Vector2f &	p2
	)

Check if a line segment intersects a rectangle.

Parameters

p1
p2

vector<pair<double, Vector2f> > RRTObstacles::obstacles

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