.. _pilot.polygon_t:

pilot.polygon_t
===============

.. cpp:namespace:: pilot::polygon_t

Struct
------

`polygon_t` describes a geometric polygon in a certain frame of reference.


Fields
------

.. cpp:member:: string frame
	
	Coordinate system name, for example ``base_link``.
	
.. cpp:member:: vector<Vector2d> points
	
	List of points forming the polygon, see :ref:`math.Vector2d`.
	The order of points does not matter, clock-wise or anti-clock-wise is both supported.