Detailed Description

A wrapper of a TPolygon2D class, implementing CSerializable.

Definition at line 19 of file CPolygon.h.

#include <mrpt/math/CPolygon.h>

Inheritance diagram for mrpt::math::CPolygon:

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< mrpt::math ::CPolygon >

using	ConstPtr = std::shared_ptr< const mrpt::math ::CPolygon >

using	UniquePtr = std::unique_ptr< mrpt::math ::CPolygon >

using	ConstUniquePtr = std::unique_ptr< const mrpt::math ::CPolygon >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::math" "::" "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...

Member Typedef Documentation

◆ ConstPtr

using mrpt::math::CPolygon::ConstPtr = std::shared_ptr<const mrpt::math :: CPolygon >

Definition at line 22 of file CPolygon.h.

◆ ConstUniquePtr

using mrpt::math::CPolygon::ConstUniquePtr = std::unique_ptr<const mrpt::math :: CPolygon >

Definition at line 22 of file CPolygon.h.

◆ Ptr

using mrpt::math::CPolygon::Ptr = std::shared_ptr< mrpt::math :: CPolygon >

A type for the associated smart pointer

Definition at line 22 of file CPolygon.h.

◆ UniquePtr

using mrpt::math::CPolygon::UniquePtr = std::unique_ptr< mrpt::math :: CPolygon >

Definition at line 22 of file CPolygon.h.

Constructor & Destructor Documentation

◆ CPolygon()

mrpt::math::CPolygon::CPolygon ( )

inline

Default constructor (empty polygon, 0 vertices)

Definition at line 26 of file CPolygon.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::math::CPolygon::_GetBaseClass ( )

staticprotected

◆ AddVertex()

void mrpt::math::CPolygon::AddVertex	(	double	x,
		double	y
	)

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(), mrpt::math::RectanglesIntersection(), and TEST().

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◆ Clear()

void mrpt::math::CPolygon::Clear ( )

inline

Clear the polygon, erasing all vertices.

Definition at line 61 of file CPolygon.h.

References mrpt::containers::clear().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::math::CPolygon::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ contains()

bool TPolygon2D::contains ( const TPoint2D & point ) const

inherited

Check whether a point is inside (or within geometryEpsilon of a polygon edge).

This works for concave or convex polygons.

Definition at line 69 of file TPolygon2D.cpp.

References isLeft(), mrpt::math::size(), and mrpt::math::TPoint2D_data< T >::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(), PointIntoPolygon(), and TEST().

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◆ Create()

template<typename... Args>

static Ptr mrpt::math::CPolygon::Create ( Args &&... args )

inlinestatic

Definition at line 22 of file CPolygon.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::math::CPolygon::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 22 of file CPolygon.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::math::CPolygon::CreateObject ( )

static

◆ createRegularPolygon() [1/2]

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

staticinherited

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

Exceptions

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

Definition at line 166 of file TPolygon2D.cpp.

References mrpt::math::getEpsilon(), and M_PI.

Referenced by mrpt::math::TPolygon2D::createRegularPolygon().

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◆ createRegularPolygon() [2/2]

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

inlinestaticinherited

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

The center will correspond to the given pose.

Exceptions

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

Definition at line 180 of file TPolygon2D.cpp.

References mrpt::math::TPose2D::composePoint(), and mrpt::math::TPolygon2D::createRegularPolygon().

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◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::math::CPolygon::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 22 of file CPolygon.h.

◆ distance()

double TPolygon2D::distance ( const TPoint2D & point ) const

inherited

Distance to a point (always >=0)

Definition at line 22 of file TPolygon2D.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TPolygon2D::getAsSegmentList(), and THROW_EXCEPTION.

Referenced by mrpt::math::TPolygon3D::distance().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ generate3DObject()

void TPolygon2D::generate3DObject ( TPolygon3D & p ) const

inherited

Projects into 3D space, zeroing the z.

Definition at line 106 of file TPolygon2D.cpp.

◆ getAllVertices()

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[](), and mrpt::math::size().

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◆ getAsSegmentList()

void TPolygon2D::getAsSegmentList ( std::vector< TSegment2D > & v ) const

inherited

Gets as set of segments, instead of points.

Definition at line 97 of file TPolygon2D.cpp.

References mrpt::math::size().

Referenced by mrpt::math::TPolygon2D::distance(), and mrpt::math::TPolygon2D::isConvex().

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◆ getBoundingBox()

void TPolygon2D::getBoundingBox	(	TPoint2D &	min_coords,
		TPoint2D &	max_coords
	)		const

inherited

Get polygon bounding box.

Exceptions

On	empty polygon

Definition at line 41 of file TPolygon2D.cpp.

References ASSERTMSG_, mrpt::containers::empty(), mrpt::keep_max(), mrpt::keep_min(), mrpt::math::size(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ getCenter()

void TPolygon2D::getCenter ( TPoint2D & p ) const

inherited

Polygon's central point.

Definition at line 110 of file TPolygon2D.cpp.

References mrpt::containers::begin(), mrpt::containers::end(), mrpt::math::size(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ getClassName()

static constexpr auto mrpt::math::CPolygon::getClassName ( )

inlinestatic

Definition at line 22 of file CPolygon.h.

◆ getPlotData()

void TPolygon2D::getPlotData	(	std::vector< double > &	x,
		std::vector< double > &	y
	)		const

inherited

Gets plot data, ready to use on a 2D plot.

See also: mrpt::gui::CDisplayWindowPlots

Definition at line 146 of file TPolygon2D.cpp.

References mrpt::containers::operator[](), and mrpt::math::size().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::math::CPolygon::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::math::CPolygon::GetRuntimeClassIdStatic ( )

static

◆ GetVertex_x()

double mrpt::math::CPolygon::GetVertex_x ( size_t i ) const

inline

Methods for accessing the vertices.

See also: verticesCount

Definition at line 34 of file CPolygon.h.

References ASSERT_, mrpt::containers::operator[](), and mrpt::math::size().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::nav::CReactiveNavigationSystem::loggingGetWSObstaclesAndShape().

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◆ GetVertex_y()

double mrpt::math::CPolygon::GetVertex_y ( size_t i ) const

inline

Definition at line 39 of file CPolygon.h.

References ASSERT_, mrpt::containers::operator[](), and mrpt::math::size().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), and mrpt::nav::CReactiveNavigationSystem::loggingGetWSObstaclesAndShape().

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◆ isConvex()

bool TPolygon2D::isConvex ( ) const

inherited

Checks whether is convex.

Definition at line 117 of file TPolygon2D.cpp.

References mrpt::math::TPolygon2D::getAsSegmentList(), mrpt::math::getEpsilon(), and mrpt::math::size().

Referenced by myTestPolygonContainsPoint().

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◆ PointIntoPolygon()

bool mrpt::math::CPolygon::PointIntoPolygon	(	double	x,
		double	y
	)		const

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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◆ removeRedundantVertices()

void TPolygon2D::removeRedundantVertices ( )

inherited

Erase every redundant vertex from the polygon, saving space.

See also: removeRepeatedVertices

Definition at line 141 of file TPolygon2D.cpp.

References mrpt::math::TPolygon2D::removeRepeatedVertices(), and mrpt::math::removeUnusedVertices().

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

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◆ removeRepeatedVertices()

void TPolygon2D::removeRepeatedVertices ( )

inherited

Erase repeated vertices.

See also: removeRedundantVertices

Definition at line 140 of file TPolygon2D.cpp.

References mrpt::math::removeRepVertices().

Referenced by mrpt::math::TPolygon2D::removeRedundantVertices().

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◆ serializeFrom() [1/2]

void CPolygon::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

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.

Exceptions

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, mrpt::containers::operator[](), mrpt::serialization::CArchive::ReadBufferFixEndianness(), and resize().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

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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◆ serializeGetVersion()

uint8_t CPolygon::serializeGetVersion ( ) const

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.

◆ serializeTo() [1/2]

void CPolygon::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 23 of file CPolygon.cpp.

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

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

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.

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◆ setAllVertices() [1/3]

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().

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◆ setAllVertices() [2/3]

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[](), and resize().

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◆ setAllVertices() [3/3]

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[](), and resize().

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◆ verticesCount()

size_t mrpt::math::CPolygon::verticesCount ( ) const

inline

Returns the vertices count in the polygon:

Definition at line 46 of file CPolygon.h.

References mrpt::math::size().

Referenced by mrpt::nav::CReactiveNavigationSystem::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

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.

Returns: A new 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.

Member Data Documentation

◆ className

constexpr const char* mrpt::math::CPolygon::className = "mrpt::math" "::" "CPolygon"

static

Definition at line 22 of file CPolygon.h.

◆ elements

T std::vector< T >::elements

inherited

STL member.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::math::CPolygon::runtimeClassId

staticprotected

Definition at line 22 of file CPolygon.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CPolygon()

Member Function Documentation

◆ _GetBaseClass()

◆ AddVertex()

◆ Clear()

◆ clone()

◆ contains()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ createRegularPolygon() [1/2]

◆ createRegularPolygon() [2/2]

◆ CreateUnique()

◆ distance()

◆ duplicateGetSmartPtr()

◆ generate3DObject()

◆ getAllVertices()

◆ getAsSegmentList()

◆ getBoundingBox()

◆ getCenter()

◆ getClassName()

◆ getPlotData()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ GetVertex_x()

◆ GetVertex_y()

◆ isConvex()

◆ PointIntoPolygon()

◆ removeRedundantVertices()

◆ removeRepeatedVertices()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setAllVertices() [1/3]

◆ setAllVertices() [2/3]

◆ setAllVertices() [3/3]

◆ verticesCount()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ elements

◆ runtimeClassId