Formula Student Autonomous Systems
The code for the main driverless system
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midpoint.hpp
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1#pragma once
2
3#include <functional>
4
6#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
7#include <CGAL/Point_2.h>
8#include <iostream>
9
10using K = CGAL::Exact_predicates_inexact_constructions_kernel;
11using Point = K::Point_2;
12
13namespace common_lib::structures {
17struct Midpoint {
19 std::vector<std::shared_ptr<Midpoint>> close_points;
20 std::shared_ptr<Cone> cone1;
21 std::shared_ptr<Cone> cone2;
22 bool valid = true;
23
24 Midpoint() = default;
25 Midpoint(const Point& p,
26 std::shared_ptr<Cone> c1,
27 std::shared_ptr<Cone> c2);
28};
29
30} // namespace common_lib::structures
31
K::Point_2 Point
Definition marker.hpp:18
CGAL::Exact_predicates_inexact_constructions_kernel K
Definition marker.hpp:17
MidPoint struct represents a potential path point with connections.
Definition midpoint.hpp:17
std::shared_ptr< Cone > cone2
Definition midpoint.hpp:21
std::shared_ptr< Cone > cone1
Definition midpoint.hpp:20
std::vector< std::shared_ptr< Midpoint > > close_points
Definition midpoint.hpp:19