mrpt::math::TPolygon3D Class Reference

Detailed Description

3D polygon, inheriting from std::vector<TPoint3D>

See also

TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 1161 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPolygon3D:

Public Member Functions
double	distance (const TPoint3D &point) const
	Distance to point. More...
bool	contains (const TPoint3D &point) const
	Check whether a point is inside the polygon. More...
void	getAsSegmentList (std::vector< TSegment3D > &v) const
	Gets as set of segments, instead of set of points. More...
bool	getPlane (TPlane &p) const
	Gets a plane which contains the polygon. More...
void	getBestFittingPlane (TPlane &p) const
	Gets the best fitting plane, disregarding whether the polygon actually fits inside or not. More...
void	generate2DObject (TPolygon2D &p) const
	Projects into a 2D space, discarding the z. More...
void	getCenter (TPoint3D &p) const
	Get polygon's central point. More...
bool	isSkew () const
	Check whether the polygon is skew. More...
void	removeRepeatedVertices ()
	Remove polygon's repeated vertices. More...
void	removeRedundantVertices ()
	Erase every redundant vertex, thus saving space. More...
	TPolygon3D ()
	Default constructor. More...
	TPolygon3D (size_t N)
	Constructor for a given size. More...
	TPolygon3D (const std::vector< TPoint3D > &v)
	Implicit constructor from a 3D points vector. More...
	TPolygon3D (const TPolygon2D &p)
	Constructor from a 2D object. More...

Static Public Member Functions
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon3D &poly)
	Static method to create a regular polygon, given its size and radius. More...
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon3D &poly, const mrpt::poses::CPose3D &pose)
	Static method to create a regular polygon, given its size and radius. More...

Public Attributes
T	elements
	STL member. More...

Constructor & Destructor Documentation

TPolygon3D() [1/4]

mrpt::math::TPolygon3D::TPolygon3D ( )

inline

Default constructor.

Creates a polygon with no vertices.

Definition at line 1211 of file lightweight_geom_data.h.

TPolygon3D() [2/4]

mrpt::math::TPolygon3D::TPolygon3D ( size_t  N )

inlineexplicit

Constructor for a given size.

Creates a polygon with a fixed number of vertices, which are initialized to garbage.

Definition at line 1215 of file lightweight_geom_data.h.

TPolygon3D() [3/4]

mrpt::math::TPolygon3D::TPolygon3D ( const std::vector< TPoint3D > &  v )

inline

Implicit constructor from a 3D points vector.

Definition at line 1219 of file lightweight_geom_data.h.

TPolygon3D() [4/4]

mrpt::math::TPolygon3D::TPolygon3D

(

const TPolygon2D &

p

)

Constructor from a 2D object.

Zeroes the z.

Member Function Documentation

contains()

bool mrpt::math::TPolygon3D::contains

(

const TPoint3D &

point

)

const

Check whether a point is inside the polygon.

createRegularPolygon() [1/2]

static void mrpt::math::TPolygon3D::createRegularPolygon ( size_t  numEdges, double  radius, TPolygon3D &  poly  )

static

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

Exceptions

std::logic_error

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

createRegularPolygon() [2/2]

static void mrpt::math::TPolygon3D::createRegularPolygon ( size_t  numEdges, double  radius, TPolygon3D &  poly, const mrpt::poses::CPose3D &  pose  )

inlinestatic

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

The center will be located on the given pose.

Exceptions

std::logic_error

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

distance()

double mrpt::math::TPolygon3D::distance

(

const TPoint3D &

point

)

const

Distance to point.

generate2DObject()

void mrpt::math::TPolygon3D::generate2DObject ( TPolygon2D &  p ) const

inline

Projects into a 2D space, discarding the z.

getPlane,isSkew

Definition at line 1188 of file lightweight_geom_data.h.

getAsSegmentList()

void mrpt::math::TPolygon3D::getAsSegmentList

(

std::vector< TSegment3D > &

v

)

const

Gets as set of segments, instead of set of points.

getBestFittingPlane()

void mrpt::math::TPolygon3D::getBestFittingPlane

(

TPlane &

p

)

const

Gets the best fitting plane, disregarding whether the polygon actually fits inside or not.

See also

getBestFittingPlane

getCenter()

void mrpt::math::TPolygon3D::getCenter

(

TPoint3D &

p

)

const

Get polygon's central point.

getPlane()

bool mrpt::math::TPolygon3D::getPlane

(

TPlane &

p

)

const

Gets a plane which contains the polygon.

Returns false if the polygon is skew and cannot be fit inside a plane.

isSkew()

bool mrpt::math::TPolygon3D::isSkew

(

)

const

Check whether the polygon is skew.

Returns true if there doesn't exist a plane in which the polygon can fit.

See also

getBestFittingPlane

removeRedundantVertices()

void mrpt::math::TPolygon3D::removeRedundantVertices

(

)

Erase every redundant vertex, thus saving space.

removeRepeatedVertices()

void mrpt::math::TPolygon3D::removeRepeatedVertices

(

)

Remove polygon's repeated vertices.

Member Data Documentation

elements

T std::vector< T >::elements

inherited

STL member.