safety_zone.h

// clang: TomasFormat
#ifndef MRS_LIB_SAFETYZONE_H
#define MRS_LIB_SAFETYZONE_H
 
#include <mrs_lib/safety_zone/polygon.h>
#include <eigen3/Eigen/Eigen>
 
namespace mrs_lib
{
 
namespace safety_zone
{
 
struct BorderError : public std::exception
{
  const char* what() const throw() {
    return "SafeZone: Wrong configuration for the border";
  }
};
 
class SafetyZone {
public:
  SafetyZone(std::shared_ptr<Polygon> outerBorder);
 
  SafetyZone(const Eigen::MatrixXd& outerBorderMatrix);
 
  bool isPointValid(const double px, const double py);
  bool isPathValid(const double p1x, const double p1y, const double p2x, const double p2y);
 
  Polygon getBorder();
 
private:
  std::shared_ptr<Polygon> outerBorder;
};
 
}  // namespace safety_zone
   //
}  // namespace mrs_lib
 
#endif  // MRS_LIB_SAFETYZONE_H