class mrpt::math::TPolygon2D

Overview

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

See also:

TPolygon3D, TSegment2D, TLine2D, TPoint2D, CPolygon

#include <mrpt/math/TPolygon2D.h>

class TPolygon2D: public std::vector< TPoint2D >
{
public:
    // construction

    TPolygon2D();
    TPolygon2D(size_t N);
    TPolygon2D(const std::vector<TPoint2D>& v);
    TPolygon2D(const std::initializer_list<TPoint2D>&& vertices);
    TPolygon2D(const TPolygon3D& p);

    // methods

    double distance(const TPoint2D& point) const;
    bool contains(const TPoint2D& point) const;
    void getAsSegmentList(std::vector<TSegment2D>& v) const;
    void generate3DObject(TPolygon3D& p) const;
    void getCenter(TPoint2D& p) const;
    bool isConvex() const;
    void removeRepeatedVertices();
    void removeRedundantVertices();
    void getPlotData(std::vector<double>& x, std::vector<double>& y) const;
    std::tuple<std::vector<double>, std::vector<double>> getPlotData() const;
    mrpt::containers::yaml asYAML() const;
    void getBoundingBox(TPoint2D& min_coords, TPoint2D& max_coords) const;
    static TPolygon2D FromYAML(const mrpt::containers::yaml& c);
    static void createRegularPolygon(size_t numEdges, double radius, TPolygon2D& poly);
    static void createRegularPolygon(size_t numEdges, double radius, TPolygon2D& poly, const mrpt::math::TPose2D& pose);
};

// direct descendants

class CPolygon;

Construction

TPolygon2D()

Default constructor

TPolygon2D(size_t N)

Constructor for a given number of vertices (uninitialized)

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

Implicit constructor from a vector of 2D points.

TPolygon2D(const std::initializer_list<TPoint2D>&& vertices)

Constructor from list of vertices data, for example:

const mrpt::math::TPolygon2D p = {
 {-6.0, 0.5}, {8.0, 2.0}, {10.0, 4.0}
 };

TPolygon2D(const TPolygon3D& p)

Constructor from a 3D object.

Methods

double distance(const TPoint2D& point) const

Distance to a point (always >=0)

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.

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

Gets as set of segments, instead of points.

void generate3DObject(TPolygon3D& p) const

Projects into 3D space, zeroing the z.

void getCenter(TPoint2D& p) const

Polygon’s central point.

bool isConvex() const

Checks whether is convex.

void removeRepeatedVertices()

Erase repeated vertices.

See also:

removeRedundantVertices

void removeRedundantVertices()

Erase every redundant vertex from the polygon, saving space.

See also:

removeRepeatedVertices

void 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

mrpt::containers::yaml asYAML() const

Returns a YAML representation of the polygon as a sequence (vertices) of sequences ([x y] coordinates).

User must include #include <mrpt/containers/yaml.h> if using this method, only a forward declaration is defined here to speed up compilation

(New in MRPT 2.4.1)

See also:

FromYAML

void getBoundingBox(TPoint2D& min_coords, TPoint2D& max_coords) const

Get polygon bounding box.

Parameters:

On	empty polygon

static TPolygon2D FromYAML(const mrpt::containers::yaml& c)

Builds a polygon from a YAML sequence (vertices) of sequences ([x y] coordinates).

User must include #include <mrpt/containers/yaml.h> if using this method, only a forward declaration is defined here to speed up compilation

(New in MRPT 2.4.1)

See also:

asYAML

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

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

Parameters:

std::logic_error

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

static void createRegularPolygon(
    size_t numEdges,
    double radius,
    TPolygon2D& poly,
    const mrpt::math::TPose2D& pose
    )

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

The center will correspond to the given pose.

Parameters:

std::logic_error

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