aniketkumarroy/visibilitygraphs

A C++ Library to generate Visibility graphs for path planning in between polygonal obstackles

VisibilityGraphs

Build

for linking and building the library with your source code add your file in CMakelists.txt in line no. 9

then as usual create a build directory and navigate into it

mkdir build
cd build

now invoke cmake and make commands

cmake ..
make

your executable will be ready in build directory with the same name as your source file name without any extension

Use

for getting all the visible points from point p by using the visibility graph created using vg.build() use

std::vector<Point> visible = vg.VG_Ptr->get_adjacent_points(p);

it returns a vector of all the visible points.

if you have not build the visibility graph but want visible vertices for a point p and graph G use

std::unordered_set<Point> visible = vg.find_visible_vertices(p, G);

it returns a std::unordered_set of all the visible points.