mrpt::math::TPolygon2D Class Reference

Detailed Description

2D polygon, inheriting from std::vector<TPoint2D>.

See also

TPolygon3D,TSegment2D,TLine2D,TPoint2D, CPolygon

Definition at line 21 of file TPolygon2D.h.

#include <mrpt/math/TPolygon2D.h>

Inheritance diagram for mrpt::math::TPolygon2D:

Public Member Functions
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...
	TPolygon2D ()
	Default constructor. More...
	TPolygon2D (size_t N)
	Constructor for a given number of vertices, intializing them as garbage. More...
	TPolygon2D (const std::vector< TPoint2D > &v)
	Implicit constructor from a vector of 2D points. More...
	TPolygon2D (const TPolygon3D &p)
	Constructor from a 3D object. 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...

Constructor & Destructor Documentation

TPolygon2D() [1/4]

mrpt::math::TPolygon2D::TPolygon2D ( )

inline

Default constructor.

Definition at line 48 of file TPolygon2D.h.

TPolygon2D() [2/4]

mrpt::math::TPolygon2D::TPolygon2D ( size_t  N )

inlineexplicit

Constructor for a given number of vertices, intializing them as garbage.

Definition at line 51 of file TPolygon2D.h.

TPolygon2D() [3/4]

mrpt::math::TPolygon2D::TPolygon2D ( const std::vector< TPoint2D > &  v )

inline

Implicit constructor from a vector of 2D points.

Definition at line 53 of file TPolygon2D.h.

TPolygon2D() [4/4]

TPolygon2D::TPolygon2D ( const TPolygon3D &  p )

explicit

Constructor from a 3D object.

Definition at line 160 of file TPolygon2D.cpp.

References resize().

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Member Function Documentation

contains()

bool TPolygon2D::contains

(

const TPoint2D &

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 69 of file TPolygon2D.cpp.

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

Referenced by mrpt::math::TPolygon3D::contains(), distance(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::intersect(), intersect(), mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(), myTestPolygonContainsPoint(), mrpt::math::CPolygon::PointIntoPolygon(), and TEST().

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createRegularPolygon() [1/2]

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

static

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 createRegularPolygon().

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createRegularPolygon() [2/2]

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

inlinestatic

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 createRegularPolygon().

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distance()

double TPolygon2D::distance

(

const TPoint2D &

point

)

const

Distance to a point (always >=0)

Definition at line 22 of file TPolygon2D.cpp.

References contains(), getAsSegmentList(), and THROW_EXCEPTION.

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

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generate3DObject()

void TPolygon2D::generate3DObject

(

TPolygon3D &

p

)

const

Projects into 3D space, zeroing the z.

Definition at line 106 of file TPolygon2D.cpp.

getAsSegmentList()

void TPolygon2D::getAsSegmentList

(

std::vector< TSegment2D > &

v

)

const

Gets as set of segments, instead of points.

Definition at line 97 of file TPolygon2D.cpp.

References mrpt::math::size().

Referenced by distance(), and isConvex().

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getBoundingBox()

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

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

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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getPlotData()

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

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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isConvex()

bool TPolygon2D::isConvex

(

)

const

Checks whether is convex.

Definition at line 117 of file TPolygon2D.cpp.

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

Referenced by myTestPolygonContainsPoint().

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removeRedundantVertices()

void TPolygon2D::removeRedundantVertices

(

)

Erase every redundant vertex from the polygon, saving space.

See also

removeRepeatedVertices

Definition at line 141 of file TPolygon2D.cpp.

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

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

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removeRepeatedVertices()

void TPolygon2D::removeRepeatedVertices

(

)

Erase repeated vertices.

See also

removeRedundantVertices

Definition at line 140 of file TPolygon2D.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

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Member Data Documentation

elements

T std::vector< T >::elements

inherited

STL member.