CPolygon.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/math/lightweight_geom_data.h>
 
namespace mrpt
{
namespace math
{
/** A wrapper of a TPolygon2D class, implementing CSerializable.
 * \ingroup geometry_grp
 */
class CPolygon : public mrpt::serialization::CSerializable,
                                 public mrpt::math::TPolygon2D
{
        DEFINE_SERIALIZABLE(CPolygon)
 
   public:
        /** Default constructor (empty polygon, 0 vertices) */
        CPolygon() : TPolygon2D() {}
        /** Add a new vertex to polygon */
        void AddVertex(double x, double y)
        {
                TPolygon2D::push_back(TPoint2D(x, y));
        }
 
        /** Methods for accessing the vertices \sa verticesCount */
        double GetVertex_x(size_t i) const
        {
                ASSERT_(i < TPolygon2D::size());
                return TPolygon2D::operator[](i).x;
        }
        double GetVertex_y(size_t i) const
        {
                ASSERT_(i < TPolygon2D::size());
                return TPolygon2D::operator[](i).y;
        }
 
        /** Returns the vertices count in the polygon: */
        size_t verticesCount() const { return TPolygon2D::size(); }
        /** Set all vertices at once. */
        void setAllVertices(
                const std::vector<double>& x, const std::vector<double>& y);
        /** Set all vertices at once. Please use the std::vector version whenever
         * possible unless efficiency is really an issue */
        void 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 */
        void setAllVertices(size_t nVertices, const float* xs, const float* ys);
 
        /** Get all vertices at once */
        void getAllVertices(std::vector<double>& x, std::vector<double>& y) const;
 
        /** Clear the polygon, erasing all vertices */
        void Clear() { TPolygon2D::clear(); }
        /**     Check if a point is inside the polygon */
        bool PointIntoPolygon(double x, double y) const
        {
                return TPolygon2D::contains(TPoint2D(x, y));
        }
};
 
}  // End of namespace
}  // End of namespace