mrpt::math::CPolygon Class Reference

Detailed Description

A wrapper of a TPolygon2D class, implementing CSerializable.

Definition at line 52 of file CPolygon.h.

#include <mrpt/math/CPolygon.h>

Inheritance diagram for mrpt::math::CPolygon:

Public Member Functions
	CPolygon ()
	Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored. More...
void	AddVertex (double x, double y)
	Add a new vertex to polygon: More...
double	GetVertex_x (size_t i) const
	Methods for accessing the vertexs: More...
double	GetVertex_y (size_t i) const
size_t	verticesCount () const
	Returns the vertices count in the polygon: More...
void	setAllVertices (const std::vector< double > &x, const std::vector< double > &y)
	Set all vertices at once. More...
void	setAllVertices (size_t nVertices, const double *xs, const double *ys)
	Set all vertices at once. More...
void	setAllVertices (size_t nVertices, const float *xs, const float *ys)
	Set all vertices at once. More...
void	getAllVertices (std::vector< double > &x, std::vector< double > &y) const
	Get all vertices at once. More...
void	Clear ()
	Clear the polygon, erasing all vertexs. More...
bool	PointIntoPolygon (double x, double y) const
	Check if a point is inside the polygon: More...
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
CObject *	clone () const
	Cloning interface for smart pointers. More...
double	distance (const TPoint2D &point) const
	Distance to a point. More...
bool	contains (const TPoint2D &point) const
	Check whether a point is inside the polygon. More...
void	getAsSegmentList (std::vector< TSegment2D > &v) const
	Gets as set of segments, instead of points. More...
void	generate3DObject (TPolygon3D &p) const
	Projects into 3D space, zeroing the z. More...
void	getCenter (TPoint2D &p) const
	Polygon's central point. More...
bool	isConvex () const
	Checks whether is convex. More...
void	removeRepeatedVertices ()
	Erase repeated vertices. More...
void	removeRedundantVertices ()
	Erase every redundant vertex from the polygon, saving space. More...
void	getPlotData (std::vector< double > &x, std::vector< double > &y) const
	Gets plot data, ready to use on a 2D plot. More...

Static Public Member Functions
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon2D &poly)
	Static method to create a regular polygon, given its size and radius. More...
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon2D &poly, const mrpt::poses::CPose2D &pose)
	Static method to create a regular polygon from its size and radius. More...

Public Attributes
T	elements
	STL member. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
typedef CPolygonPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPolygon
static mrpt::utils::TRuntimeClassId	classCPolygon
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
static mrpt::utils::CObject *	CreateObject ()
static CPolygonPtr	Create ()

Member Typedef Documentation

SmartPtr

typedef CPolygonPtr mrpt::math::CPolygon::SmartPtr

A typedef for the associated smart pointer

Definition at line 55 of file CPolygon.h.

Constructor & Destructor Documentation

CPolygon()

mrpt::math::CPolygon::CPolygon ( )

inline

Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored.

See also

PointIntoPolygon

Definition at line 63 of file CPolygon.h.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::math::CPolygon::_GetBaseClass ( )

staticprotected

AddVertex()

void mrpt::math::CPolygon::AddVertex ( double  x, double  y  )

inline

Add a new vertex to polygon:

Definition at line 68 of file CPolygon.h.

References push_back().

Clear()

void mrpt::math::CPolygon::Clear ( )

inline

Clear the polygon, erasing all vertexs.

Definition at line 92 of file CPolygon.h.

clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 161 of file CObject.h.

contains()

bool mrpt::math::TPolygon2D::contains ( const TPoint2D &  point ) const

inherited

Check whether a point is inside the polygon.

Referenced by PointIntoPolygon().

Create()

static CPolygonPtr mrpt::math::CPolygon::Create ( )

static

CreateObject()

static mrpt::utils::CObject* mrpt::math::CPolygon::CreateObject ( )

static

createRegularPolygon() [1/2]

static void mrpt::math::TPolygon2D::createRegularPolygon ( size_t  numEdges, double  radius, TPolygon2D &  poly  )

staticinherited

Static method to create a regular polygon, given its size and radius.

Exceptions

std::logic_error

if radius is near zero or the number of edges is less than three.

createRegularPolygon() [2/2]

static void mrpt::math::TPolygon2D::createRegularPolygon ( size_t  numEdges, double  radius, TPolygon2D &  poly, const mrpt::poses::CPose2D &  pose  )

inlinestaticinherited

Static method to create a regular polygon from its size and radius.

The center will correspond to the given pose.

Exceptions

std::logic_error

if radius is near zero or the number of edges is less than three.

distance()

double mrpt::math::TPolygon2D::distance ( const TPoint2D &  point ) const

inherited

Distance to a point.

duplicate()

virtual mrpt::utils::CObject* mrpt::math::CPolygon::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 158 of file CObject.h.

generate3DObject()

void mrpt::math::TPolygon2D::generate3DObject ( TPolygon3D &  p ) const

inherited

Projects into 3D space, zeroing the z.

getAllVertices()

void mrpt::math::CPolygon::getAllVertices	(	std::vector< double > &	x,
		std::vector< double > &	y
	)		const

Get all vertices at once.

getAsSegmentList()

void mrpt::math::TPolygon2D::getAsSegmentList ( std::vector< TSegment2D > &  v ) const

inherited

Gets as set of segments, instead of points.

getCenter()

void mrpt::math::TPolygon2D::getCenter ( TPoint2D &  p ) const

inherited

Polygon's central point.

getPlotData()

void mrpt::math::TPolygon2D::getPlotData ( std::vector< double > &  x, std::vector< double > &  y  ) const

inherited

Gets plot data, ready to use on a 2D plot.

See also

mrpt::gui::CDisplayWindowPlots

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::math::CPolygon::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

GetVertex_x()

double mrpt::math::CPolygon::GetVertex_x ( size_t  i ) const

inline

Methods for accessing the vertexs:

See also

verticesCount

Definition at line 75 of file CPolygon.h.

References ASSERT_, and mrpt::math::size().

GetVertex_y()

double mrpt::math::CPolygon::GetVertex_y ( size_t  i ) const

inline

Definition at line 76 of file CPolygon.h.

References ASSERT_, and mrpt::math::size().

isConvex()

bool mrpt::math::TPolygon2D::isConvex ( ) const

inherited

Checks whether is convex.

PointIntoPolygon()

bool mrpt::math::CPolygon::PointIntoPolygon ( double  x, double  y  ) const

inline

Check if a point is inside the polygon:

Definition at line 96 of file CPolygon.h.

References mrpt::math::TPolygon2D::contains().

readFromStream()

void mrpt::math::CPolygon::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

removeRedundantVertices()

void mrpt::math::TPolygon2D::removeRedundantVertices ( )

inherited

Erase every redundant vertex from the polygon, saving space.

See also

removeRepeatedVertices

removeRepeatedVertices()

void mrpt::math::TPolygon2D::removeRepeatedVertices ( )

inherited

Erase repeated vertices.

See also

removeRedundantVertices

setAllVertices() [1/3]

void mrpt::math::CPolygon::setAllVertices	(	const std::vector< double > &	x,
		const std::vector< double > &	y
	)

Set all vertices at once.

setAllVertices() [2/3]

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const double *	xs,
		const double *	ys
	)

Set all vertices at once.

Please use the std::vector version whenever possible unless efficiency is really an issue

setAllVertices() [3/3]

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const float *	xs,
		const float *	ys
	)

Set all vertices at once.

Please use the std::vector version whenever possible unless efficiency is really an issue

verticesCount()

size_t mrpt::math::CPolygon::verticesCount ( ) const

inline

Returns the vertices count in the polygon:

Definition at line 79 of file CPolygon.h.

References mrpt::math::size().

writeToStream()

void mrpt::math::CPolygon::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

_init_CPolygon

mrpt::utils::CLASSINIT mrpt::math::CPolygon::_init_CPolygon

staticprotected

Definition at line 55 of file CPolygon.h.

classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 146 of file CObject.h.

classCPolygon

mrpt::utils::TRuntimeClassId mrpt::math::CPolygon::classCPolygon

static

Definition at line 55 of file CPolygon.h.

classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 61 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::math::CPolygon::classinfo

static

Definition at line 55 of file CPolygon.h.

elements

T std::vector< T >::elements

inherited

STL member.