/*---------------------------------------------------------------
changeRobotShape
---------------------------------------------------------------*/
void CReactiveNavigationSystem::changeRobotShape( const math::CPolygon &shape )
{
m_collisionGridsMustBeUpdated = true;
if ( shape.verticesCount()<3 )
THROW_EXCEPTION("The robot shape has less than 3 vertices!!")
m_robotShape = shape;
}
/*---------------------------------------------------------------
changeRobotShape
---------------------------------------------------------------*/
void CReactiveNavigationSystem::changeRobotShape(const math::CPolygon& shape)
{
m_PTGsMustBeReInitialized = true;
if (shape.verticesCount() < 3)
{
THROW_EXCEPTION("The robot shape has less than 3 vertices!!")
}
m_robotShape = shape;
}