shapes.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <Eigen/Core>
 
namespace armarx::navigation::human::shapes
{
 
    /**
     * @brief An axis oriented ellipse with half-axes a and b along the x- and y-axis respectively.
     */
    struct Ellipse
    {
        float a;
        float b;
    };
 
    /**
     * @brief A polygon with arbitrarily many vertices. The polygon will always be closed automatically.
     */
    struct Polygon
    {
        std::vector<Eigen::Vector2f> vertices;
    };
 
} // namespace armarx::navigation::human::shapes