mrpt::math::TPolygon2D Class Reference

Detailed Description

2D polygon, inheriting from std::vector<TPoint2D>.

See also

TPolygon3D,TSegment2D,TLine2D,TPoint2D, CPolygon

Definition at line 1006 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPolygon2D:

Public Member Functions
double	distance (const TPoint2D &point) const
	Distance to a point (always >=0) More...
bool	contains (const TPoint2D &point) const
	Check whether a point is inside (or within geometryEpsilon of a polygon edge). This works for concave or convex polygons. 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...
void	getBoundingBox (TPoint2D &min_coords, TPoint2D &max_coords) const
	Get polygon bounding box. More...
	TPolygon2D ()
	Default constructor. More...
	TPolygon2D (size_t N)
	Constructor for a given number of vertices, intializing them as garbage. More...
	TPolygon2D (const std::vector< TPoint2D > &v)
	Implicit constructor from a vector of 2D points. More...
	TPolygon2D (const TPolygon3D &p)
	Constructor from a 3D object. 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...

Constructor & Destructor Documentation

TPolygon2D() [1/4]

mrpt::math::TPolygon2D::TPolygon2D ( )

inline

Default constructor.

Definition at line 1019 of file lightweight_geom_data.h.

TPolygon2D() [2/4]

mrpt::math::TPolygon2D::TPolygon2D ( size_t  N )

inlineexplicit

Constructor for a given number of vertices, intializing them as garbage.

Definition at line 1021 of file lightweight_geom_data.h.

TPolygon2D() [3/4]

mrpt::math::TPolygon2D::TPolygon2D ( const std::vector< TPoint2D > &  v )

inline

Implicit constructor from a vector of 2D points.

Definition at line 1023 of file lightweight_geom_data.h.

TPolygon2D() [4/4]

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

explicit

Constructor from a 3D object.

Definition at line 775 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint2D::size().

Member Function Documentation

contains()

bool mrpt::math::TPolygon2D::contains

(

const TPoint2D &

point

)

const

Check whether a point is inside (or within geometryEpsilon of a polygon edge). This works for concave or convex polygons.

Definition at line 685 of file lightweight_geom_data.cpp.

References mrpt::math::isLeft(), mrpt::math::size(), and mrpt::math::TPoint2D::y.

Referenced by mrpt::math::TPolygon3D::contains(), distance(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::intersect(), intersect(), mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(), myTestPolygonContainsPoint(), and mrpt::math::CPolygon::PointIntoPolygon().

createRegularPolygon() [1/2]

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

static

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.

Definition at line 780 of file lightweight_geom_data.cpp.

References mrpt::math::geometryEpsilon, and M_PI.

Referenced by createRegularPolygon().

createRegularPolygon() [2/2]

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

inlinestatic

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.

Definition at line 788 of file lightweight_geom_data.cpp.

References createRegularPolygon().

distance()

double mrpt::math::TPolygon2D::distance

(

const TPoint2D &

point

)

const

Distance to a point (always >=0)

Definition at line 640 of file lightweight_geom_data.cpp.

References contains(), getAsSegmentList(), and THROW_EXCEPTION.

Referenced by mrpt::math::TPolygon3D::distance().

generate3DObject()

void mrpt::math::TPolygon2D::generate3DObject

(

TPolygon3D &

p

)

const

Projects into 3D space, zeroing the z.

Definition at line 719 of file lightweight_geom_data.cpp.

References mrpt::math::TPolygon3D.

getAsSegmentList()

void mrpt::math::TPolygon2D::getAsSegmentList

(

std::vector< TSegment2D > &

v

)

const

Gets as set of segments, instead of points.

Definition at line 712 of file lightweight_geom_data.cpp.

References mrpt::math::size().

Referenced by distance(), and isConvex().

getBoundingBox()

void mrpt::math::TPolygon2D::getBoundingBox	(	TPoint2D &	min_coords,
		TPoint2D &	max_coords
	)		const

Get polygon bounding box.

Exceptions

On	empty polygon

Definition at line 660 of file lightweight_geom_data.cpp.

References ASSERTMSG_, empty(), mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), mrpt::math::size(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

getCenter()

void mrpt::math::TPolygon2D::getCenter

(

TPoint2D &

p

)

const

Polygon's central point.

Definition at line 734 of file lightweight_geom_data.cpp.

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

getPlotData()

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

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

See also

mrpt::gui::CDisplayWindowPlots

Definition at line 764 of file lightweight_geom_data.cpp.

References mrpt::utils::operator[](), and mrpt::math::size().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG().

isConvex()

bool mrpt::math::TPolygon2D::isConvex

(

)

const

Checks whether is convex.

Definition at line 740 of file lightweight_geom_data.cpp.

References mrpt::math::TLine2D::evaluatePoint(), mrpt::math::geometryEpsilon, getAsSegmentList(), and mrpt::math::size().

Referenced by myTestPolygonContainsPoint().

removeRedundantVertices()

void mrpt::math::TPolygon2D::removeRedundantVertices

(

)

Erase every redundant vertex from the polygon, saving space.

See also

removeRepeatedVertices

Definition at line 760 of file lightweight_geom_data.cpp.

References removeRepeatedVertices(), and mrpt::math::removeUnusedVertices().

Referenced by mrpt::math::splitInConvexComponents().

removeRepeatedVertices()

void mrpt::math::TPolygon2D::removeRepeatedVertices

(

)

Erase repeated vertices.

See also

removeRedundantVertices

Definition at line 757 of file lightweight_geom_data.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

Member Data Documentation

elements

T std::vector< T >::elements

inherited

STL member.