Method thickenLine

grid_map_core/src/Polygon.cpp:184–197

}

bool Polygon::thickenLine(const double thickness)
{
  if (vertices_.size() != 2) return false;
  const Vector connection(vertices_[1] - vertices_[0]);
  const Vector orthogonal = thickness * Vector(connection.y(), -connection.x()).normalized();
  std::vector<Position> newVertices;
  newVertices.reserve(4);
  newVertices.push_back(vertices_[0] + orthogonal);
  newVertices.push_back(vertices_[0] - orthogonal);
  newVertices.push_back(vertices_[1] - orthogonal);
  newVertices.push_back(vertices_[1] + orthogonal);
  vertices_ = newVertices;
  return true;
}

bool Polygon::offsetInward(const double margin)
{