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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:
Inheritance graph
[legend]

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

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::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPolygonPtr Create ()
 

Member Typedef Documentation

◆ 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_errorif 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_errorif 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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn 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.




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