TPolygonWithPlane.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/TPlane.h>
#include <mrpt/math/TPolygon2D.h>
#include <mrpt/math/TPolygon3D.h>
#include <mrpt/math/TPose3D.h>
#include <vector>

namespace mrpt::math
{
/** \addtogroup geometry_grp
 * @{ */

/** Slightly heavyweight type to speed-up calculations with polygons in 3D
 * \sa TPolygon3D,TPlane
 */
class TPolygonWithPlane
{
   public:
    /** Actual polygon. */
    TPolygon3D poly;
    /** Plane containing the polygon. */
    TPlane plane;
    /** Plane's pose.  \sa inversePose */
    mrpt::math::TPose3D pose;
    /** Plane's inverse pose. \sa pose */
    mrpt::math::TPose3D inversePose;
    /** Polygon, after being projected to the plane using inversePose. \sa
     * inversePose */
    TPolygon2D poly2D;
    /** Constructor. Takes a polygon and computes each parameter. */
    TPolygonWithPlane(const TPolygon3D& p);
    /** Basic constructor. Needed to create containers  \sa
     * TPolygonWithPlane(const TPolygon3D &) */
    TPolygonWithPlane() = default;
    /** Static method for vectors. Takes a set of polygons and creates every
     * TPolygonWithPlane  */
    static void getPlanes(
        const std::vector<TPolygon3D>& oldPolys,
        std::vector<TPolygonWithPlane>& newPolys);
};

/** @} */

}  // namespace mrpt::math