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Detailed Description

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

See Also
TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 1040 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPolygon3D:
Inheritance graph

Public Member Functions

double distance (const TPoint3D &point) const
 Distance to point (always >=0) More...
 
bool contains (const TPoint3D &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< 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. Returns false if the polygon is skew and cannot be fit inside a plane. 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. Returns true if there doesn't exist a plane in which the polygon can fit. 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

elements
 STL member. More...
 

Constructor & Destructor Documentation

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

Default constructor.

Creates a polygon with no vertices.

Definition at line 1057 of file lightweight_geom_data.h.

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 1059 of file lightweight_geom_data.h.

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

Implicit constructor from a 3D points vector.

Definition at line 1061 of file lightweight_geom_data.h.

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

Constructor from a 2D object.

Zeroes the z.

Definition at line 851 of file lightweight_geom_data.cpp.

Member Function Documentation

bool mrpt::math::TPolygon3D::contains ( const TPoint3D 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 805 of file lightweight_geom_data.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::geometryEpsilon, mrpt::math::TPlane::getAsPose3D(), getPlane(), mrpt::math::getPrismBounds(), mrpt::math::project3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

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

Definition at line 856 of file lightweight_geom_data.cpp.

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

Referenced by createRegularPolygon().

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

Definition at line 864 of file lightweight_geom_data.cpp.

References mrpt::poses::CPose3D::composePoint(), and createRegularPolygon().

double mrpt::math::TPolygon3D::distance ( const TPoint3D point) const
void mrpt::math::TPolygon3D::generate2DObject ( TPolygon2D p) const
inline

Projects into a 2D space, discarding the z.

See Also
getPlane,isSkew

Definition at line 1049 of file lightweight_geom_data.h.

void mrpt::math::TPolygon3D::getAsSegmentList ( std::vector< TSegment3D > &  v) const

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

Definition at line 822 of file lightweight_geom_data.cpp.

References mrpt::math::size(), and mrpt::math::TSegment3D.

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

Definition at line 831 of file lightweight_geom_data.cpp.

References mrpt::math::getRegressionPlane().

Referenced by mrpt::opengl::CPolyhedron::augment(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

void mrpt::math::TPolygon3D::getCenter ( TPoint3D p) const
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.

Definition at line 828 of file lightweight_geom_data.cpp.

References mrpt::math::conformAPlane().

Referenced by contains(), distance(), mrpt::math::intersect(), mrpt::opengl::CPolyhedron::setNormal(), and mrpt::math::splitInConvexComponents().

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

Definition at line 841 of file lightweight_geom_data.cpp.

References mrpt::math::conformAPlane().

void mrpt::math::TPolygon3D::removeRedundantVertices ( )

Erase every redundant vertex, thus saving space.

Definition at line 847 of file lightweight_geom_data.cpp.

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

void mrpt::math::TPolygon3D::removeRepeatedVertices ( )

Remove polygon's repeated vertices.

Definition at line 844 of file lightweight_geom_data.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

Member Data Documentation

T std::vector< T >::elements
inherited

STL member.




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