TPolygon3D.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/TPoint3D.h>
#include <mrpt/math/TPoseOrPoint.h>
#include <vector>

namespace mrpt::math
{
/** 3D polygon, inheriting from std::vector<TPoint3D>
 * \sa TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D
 */
class TPolygon3D : public std::vector<TPoint3D>
{
   public:
    /** Distance to point (always >=0) */
    double distance(const TPoint3D& point) const;
    /** Check whether a point is inside (or within geometryEpsilon of a polygon
     * edge). This works for concave or convex polygons. */
    bool contains(const TPoint3D& point) const;
    /** Gets as set of segments, instead of set of points. */
    void getAsSegmentList(std::vector<TSegment3D>& v) const;
    /** Gets a plane which contains the polygon. Returns false if the polygon is
     * skew and cannot be fit inside a plane. */
    bool getPlane(TPlane& p) const;
    /** Gets the best fitting plane, disregarding whether the polygon actually
     * fits inside or not. \sa getBestFittingPlane */
    void getBestFittingPlane(TPlane& p) const;
    /** Projects into a 2D space, discarding the z. \sa getPlane,isSkew */
    void generate2DObject(TPolygon2D& p) const;
    /** Get polygon's central point. */
    void getCenter(TPoint3D& p) const;
    /** Check whether the polygon is skew. Returns true if there doesn't exist a
     * plane in which the polygon can fit. \sa getBestFittingPlane */
    bool isSkew() const;
    /** Remove polygon's repeated vertices. */
    void removeRepeatedVertices();
    /** Erase every redundant vertex, thus saving space. */
    void removeRedundantVertices();
    /** Default constructor. Creates a polygon with no vertices.  */
    TPolygon3D() : std::vector<TPoint3D>() {}
    /** Constructor for a given size. Creates a polygon with a fixed number of
     * vertices, which are initialized to garbage. */
    explicit TPolygon3D(size_t N) : std::vector<TPoint3D>(N) {}
    /** Implicit constructor from a 3D points vector. */
    TPolygon3D(const std::vector<TPoint3D>& v) : std::vector<TPoint3D>(v) {}
    /** Constructor from a 2D object. Zeroes the z. */
    explicit TPolygon3D(const TPolygon2D& p);
    /** Static method to create a regular polygon, given its size and radius.
     * \throw std::logic_error if number of edges is less than three, or radius
     * is near zero. */
    static void createRegularPolygon(
        size_t numEdges, double radius, TPolygon3D& poly);
    /** Static method to create a regular polygon, given its size and radius.
     * The center will be located on the given pose.
     * \throw std::logic_error if number of edges is less than three, or radius
     * is near zero.
     */
    static void createRegularPolygon(
        size_t numEdges, double radius, TPolygon3D& poly,
        const mrpt::math::TPose3D& pose);
};

}  // namespace mrpt::math

namespace mrpt::typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(TPolygon3D, mrpt::math)

}  // namespace mrpt::typemeta