MRPT
1.9.9
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A wrapper of a TPolygon2D class, implementing CSerializable.
Definition at line 19 of file CPolygon.h.
#include <mrpt/math/CPolygon.h>
Public Member Functions | |
CPolygon () | |
Default constructor (empty polygon, 0 vertices) More... | |
void | AddVertex (double x, double y) |
Add a new vertex to polygon. More... | |
double | GetVertex_x (size_t i) const |
Methods for accessing the vertices. More... | |
double | GetVertex_y (size_t i) const |
size_t | verticesCount () const |
Returns the vertices count in the polygon: More... | |
void | setAllVertices (const std::vector< double > &x, const std::vector< double > &y) |
Set all vertices at once. More... | |
void | setAllVertices (size_t nVertices, const double *xs, const double *ys) |
Set all vertices at once. More... | |
void | setAllVertices (size_t nVertices, const float *xs, const float *ys) |
Set all vertices at once. More... | |
void | getAllVertices (std::vector< double > &x, std::vector< double > &y) const |
Get all vertices at once. More... | |
void | Clear () |
Clear the polygon, erasing all vertices. More... | |
bool | PointIntoPolygon (double x, double y) const |
Check if a point is inside the polygon. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
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). 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... | |
RTTI classes and functions for polymorphic hierarchies | |
mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
Makes a deep copy of the object and returns a smart pointer to it. 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::math::TPose2D &pose) |
Static method to create a regular polygon from its size and radius. More... | |
Public Attributes | |
T | elements |
STL member. More... | |
Protected Member Functions | |
CSerializable virtual methods | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPolygon > |
using | ConstPtr = std::shared_ptr< const CPolygon > |
using | UniquePtr = std::unique_ptr< CPolygon > |
using | ConstUniquePtr = std::unique_ptr< const CPolygon > |
static mrpt::rtti::CLASSINIT | _init_CPolygon |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPolygon" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static std::shared_ptr< CObject > | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
template<typename Alloc , typename... Args> | |
static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
template<typename... Args> | |
static UniquePtr | CreateUnique (Args &&... args) |
virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::rtti::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::math::CPolygon::ConstPtr = std::shared_ptr<const CPolygon > |
Definition at line 22 of file CPolygon.h.
using mrpt::math::CPolygon::ConstUniquePtr = std::unique_ptr<const CPolygon > |
Definition at line 22 of file CPolygon.h.
using mrpt::math::CPolygon::Ptr = std::shared_ptr< CPolygon > |
A type for the associated smart pointer
Definition at line 22 of file CPolygon.h.
using mrpt::math::CPolygon::UniquePtr = std::unique_ptr< CPolygon > |
Definition at line 22 of file CPolygon.h.
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inline |
Default constructor (empty polygon, 0 vertices)
Definition at line 26 of file CPolygon.h.
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staticprotected |
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inline |
Add a new vertex to polygon.
Definition at line 28 of file CPolygon.h.
Referenced by mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CPTG_RobotShape_Polygonal::loadDefaultParams(), mrpt::nav::CPTG_RobotShape_Polygonal::loadShapeFromConfigFile(), and mrpt::math::RectanglesIntersection().
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inline |
Clear the polygon, erasing all vertices.
Definition at line 61 of file CPolygon.h.
References mrpt::containers::clear().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inherited |
Check whether a point is inside (or within geometryEpsilon of a polygon edge).
This works for concave or convex polygons.
Definition at line 1151 of file TPoseOrPoint.cpp.
References mrpt::math::isLeft(), mrpt::math::size(), and mrpt::math::TPoint2D_data::y.
Referenced by mrpt::math::TPolygon3D::contains(), mrpt::math::TPolygon2D::distance(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::intersect(), intersect(), mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(), myTestPolygonContainsPoint(), and PointIntoPolygon().
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inlinestatic |
Definition at line 22 of file CPolygon.h.
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inlinestatic |
Definition at line 22 of file CPolygon.h.
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static |
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staticinherited |
Static method to create a regular polygon, given its size and radius.
std::logic_error | if radius is near zero or the number of edges is less than three. |
Definition at line 1263 of file TPoseOrPoint.cpp.
References mrpt::math::getEpsilon(), and M_PI.
Referenced by mrpt::math::TPolygon2D::createRegularPolygon().
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inlinestaticinherited |
Static method to create a regular polygon from its size and radius.
The center will correspond to the given pose.
std::logic_error | if radius is near zero or the number of edges is less than three. |
Definition at line 1276 of file TPoseOrPoint.cpp.
References mrpt::math::TPose2D::composePoint(), and mrpt::math::TPolygon2D::createRegularPolygon().
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inlinestatic |
Definition at line 22 of file CPolygon.h.
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inherited |
Distance to a point (always >=0)
Definition at line 1104 of file TPoseOrPoint.cpp.
References mrpt::math::TPolygon2D::contains(), mrpt::math::TPolygon2D::getAsSegmentList(), and THROW_EXCEPTION.
Referenced by mrpt::math::TPolygon3D::distance().
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inlineinherited |
Makes a deep copy of the object and returns a smart pointer to it.
Definition at line 200 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inherited |
Projects into 3D space, zeroing the z.
Definition at line 1188 of file TPoseOrPoint.cpp.
void CPolygon::getAllVertices | ( | std::vector< double > & | x, |
std::vector< double > & | y | ||
) | const |
Get all vertices at once.
Definition at line 158 of file CPolygon.cpp.
References mrpt::containers::operator[]().
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inherited |
Gets as set of segments, instead of points.
Definition at line 1179 of file TPoseOrPoint.cpp.
References mrpt::math::size().
Referenced by mrpt::math::TPolygon2D::distance(), and mrpt::math::TPolygon2D::isConvex().
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inherited |
Get polygon bounding box.
On | empty polygon |
Definition at line 1123 of file TPoseOrPoint.cpp.
References ASSERTMSG_, mrpt::containers::empty(), mrpt::keep_max(), mrpt::keep_min(), mrpt::math::size(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.
Polygon's central point.
Definition at line 1207 of file TPoseOrPoint.cpp.
References mrpt::containers::begin(), and mrpt::math::size().
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inlinestatic |
Definition at line 22 of file CPolygon.h.
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inherited |
Gets plot data, ready to use on a 2D plot.
Definition at line 1243 of file TPoseOrPoint.cpp.
References mrpt::containers::operator[](), and mrpt::math::size().
Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
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static |
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inline |
Methods for accessing the vertices.
Definition at line 34 of file CPolygon.h.
References ASSERT_, and mrpt::containers::operator[]().
Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::nav::CReactiveNavigationSystem::loggingGetWSObstaclesAndShape().
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inline |
Definition at line 39 of file CPolygon.h.
References ASSERT_, and mrpt::containers::operator[]().
Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::nav::CReactiveNavigationSystem::loggingGetWSObstaclesAndShape().
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inherited |
Checks whether is convex.
Definition at line 1214 of file TPoseOrPoint.cpp.
References mrpt::math::TPolygon2D::getAsSegmentList(), mrpt::math::getEpsilon(), and mrpt::math::size().
Referenced by myTestPolygonContainsPoint().
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inline |
Check if a point is inside the polygon.
Definition at line 63 of file CPolygon.h.
References mrpt::math::TPolygon2D::contains().
Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::math::RectanglesIntersection().
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inherited |
Erase every redundant vertex from the polygon, saving space.
Definition at line 1238 of file TPoseOrPoint.cpp.
References mrpt::math::TPolygon2D::removeRepeatedVertices(), and mrpt::math::removeUnusedVertices().
Referenced by mrpt::math::splitInConvexComponents().
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inherited |
Erase repeated vertices.
Definition at line 1237 of file TPoseOrPoint.cpp.
References mrpt::math::removeRepVertices().
Referenced by mrpt::math::TPolygon2D::removeRedundantVertices().
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
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in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 37 of file CPolygon.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::containers::operator[]().
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inlineprotectedvirtualinherited |
Virtual method for reading (deserializing) from an abstract schema based archive.
Definition at line 74 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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overrideprotectedvirtual |
Must return the current versioning number of the object.
Start in zero for new classes, and increments each time there is a change in the stored format.
Implements mrpt::serialization::CSerializable.
Definition at line 22 of file CPolygon.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 23 of file CPolygon.cpp.
References mrpt::serialization::CArchive::WriteBufferFixEndianness().
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inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
void CPolygon::setAllVertices | ( | const std::vector< double > & | x, |
const std::vector< double > & | y | ||
) |
Set all vertices at once.
Definition at line 121 of file CPolygon.cpp.
References ASSERT_.
Referenced by mrpt::maps::CPointsMap::internal_insertObservation().
void CPolygon::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
Definition at line 131 of file CPolygon.cpp.
References mrpt::containers::operator[]().
void CPolygon::setAllVertices | ( | size_t | nVertices, |
const float * | xs, | ||
const float * | ys | ||
) |
Set all vertices at once.
Please use the std::vector version whenever possible unless efficiency is really an issue
Definition at line 146 of file CPolygon.cpp.
References mrpt::containers::operator[]().
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inline |
Returns the vertices count in the polygon:
Definition at line 46 of file CPolygon.h.
Referenced by mrpt::nav::CReactiveNavigationSystem::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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staticprotected |
Definition at line 22 of file CPolygon.h.
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static |
Definition at line 22 of file CPolygon.h.
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inherited |
STL member.
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staticprotected |
Definition at line 22 of file CPolygon.h.
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