Expand description
Polygon scenes, world bounds, validation, and free-space walkability primitives. Polygon obstacle scenes and free-space predicates for the polygonal lane.
Substrate shared by online crate::continuous::PolygonPathfinder solvers
and source-rooted prepared maps: a WorldBounds rectangle, simple
Polygon obstacle rings, and walkability / segment legality under a
geometry epsilon. Free space is the closed world rectangle minus strict
obstacle interiors; points on sealed world-boundary edges (obstacle edges
collinear with the world frame) are non-traversable for endpoints and
segments. Embedded public packs and oracle adapters remain in the facade.
§Contract
Build a PolygonScene from a validated WorldBounds and disjoint
Polygon obstacles, then use its walkability predicates as the shared
legality rule for online solvers and prepared maps. This module owns runtime
geometry only; embedded public packs are a facade concern.
Structs§
- Point2
- Continuous 2D point in polygon-scene coordinates (not grid cells). Continuous 2D point in world / scene coordinates (not grid cells).
- Polygon
- Simple polygon obstacle: closed ordered vertex ring, not necessarily convex.
- Polygon
Scene - Bounded free space with polygon obstacles and walkability predicates.
- Polygon
Search Request - Start/goal pair for online polygonal search.
- World
Bounds - Axis-aligned rectangular world extent that bounds a
PolygonScene.
Enums§
- Polygon
Endpoint - Endpoint role carried by
PolygonValidationError::EndpointNotTraversable. - Polygon
Validation Error - Static geometry or endpoint validation failure for polygonal scenes.