83 PolyWorld(
const std::string &worldName,
const std::pair<double, double> &xBounds,
84 const std::pair<double, double> &yBounds);
86 const std::string &worldName()
const;
87 std::pair<double, double> xBounds()
const;
88 std::pair<double, double> yBounds()
const;
90 size_t numObstacles()
const;
91 const std::vector<ConvexPolygon> &obstacles()
const;
99 bool outOfBounds(Point p)
const;
102 bool pointCollisionFree(Point p)
const;
105 void writeWorld(
const char *filename)
const;
108 std::string worldName_;
109 std::vector<std::pair<double, double>> bounds_;
111 std::vector<ConvexPolygon> obstacles_;