mrpt::math::TPolygon3D Class Reference

Detailed Description

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

See also

TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 20 of file TPolygon3D.h.

#include <mrpt/math/TPolygon3D.h>

Inheritance diagram for mrpt::math::TPolygon3D:

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). 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. 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. 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::math::TPose3D &pose)
	Static method to create a regular polygon, given its size and radius. More...

Public Attributes
T	elements
	STL member. More...

Constructor & Destructor Documentation

TPolygon3D() [1/4]

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

inline

Default constructor.

Creates a polygon with no vertices.

Definition at line 48 of file TPolygon3D.h.

TPolygon3D() [2/4]

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 51 of file TPolygon3D.h.

TPolygon3D() [3/4]

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

inline

Implicit constructor from a 3D points vector.

Definition at line 53 of file TPolygon3D.h.

TPolygon3D() [4/4]

TPolygon3D::TPolygon3D ( const TPolygon2D &  p )

explicit

Constructor from a 2D object.

Zeroes the z.

Definition at line 96 of file TPolygon3D.cpp.

References resize().

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Member Function Documentation

contains()

bool 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 43 of file TPolygon3D.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TPose3D::fromHomogeneousMatrix(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::getEpsilon(), mrpt::math::TPose3D::getInverseHomogeneousMatrix(), getPlane(), mrpt::math::getPrismBounds(), mrpt::math::project3D(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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createRegularPolygon() [1/2]

void 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_error

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

Definition at line 102 of file TPolygon3D.cpp.

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

Referenced by createRegularPolygon().

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createRegularPolygon() [2/2]

void TPolygon3D::createRegularPolygon ( size_t  numEdges, double  radius, TPolygon3D &  poly, const mrpt::math::TPose3D &  pose  )

static

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

The center will be located on the given pose.

Exceptions

std::logic_error

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

Definition at line 115 of file TPolygon3D.cpp.

References mrpt::math::TPose3D::composePoint(), and createRegularPolygon().

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distance()

double TPolygon3D::distance

(

const TPoint3D &

point

)

const

Distance to point (always >=0)

Definition at line 29 of file TPolygon3D.cpp.

References mrpt::math::TPolygon2D::distance(), mrpt::math::TPlane::getAsPose3DForcingOrigin(), getPlane(), mrpt::math::project3D(), and mrpt::math::TPoint3D_data< T >::z.

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generate2DObject()

void TPolygon3D::generate2DObject

(

TPolygon2D &

p

)

const

Projects into a 2D space, discarding the z.

See also

getPlane,isSkew

Definition at line 24 of file TPolygon3D.cpp.

getAsSegmentList()

void TPolygon3D::getAsSegmentList

(

std::vector< TSegment3D > &

v

)

const

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

Definition at line 68 of file TPolygon3D.cpp.

References mrpt::math::size().

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getBestFittingPlane()

void 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 77 of file TPolygon3D.cpp.

References mrpt::math::getRegressionPlane().

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

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getCenter()

void TPolygon3D::getCenter

(

TPoint3D &

p

)

const

Get polygon's central point.

Definition at line 81 of file TPolygon3D.cpp.

References mrpt::containers::begin(), mrpt::containers::end(), mrpt::math::size(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::opengl::CPolyhedron::augment().

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getPlane()

bool 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 76 of file TPolygon3D.cpp.

References mrpt::math::conformAPlane().

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

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isSkew()

bool 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 89 of file TPolygon3D.cpp.

References mrpt::math::conformAPlane().

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removeRedundantVertices()

void TPolygon3D::removeRedundantVertices

(

)

Erase every redundant vertex, thus saving space.

Definition at line 91 of file TPolygon3D.cpp.

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

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removeRepeatedVertices()

void TPolygon3D::removeRepeatedVertices

(

)

Remove polygon's repeated vertices.

Definition at line 90 of file TPolygon3D.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

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Member Data Documentation

elements

T std::vector< T >::elements

inherited

STL member.