Detailed Description

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

See also: TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 1506 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.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::poses::CPose3D &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 1534 of file lightweight_geom_data.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 1537 of file lightweight_geom_data.h.

◆ TPolygon3D() [3/4]

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

inline

Implicit constructor from a 3D points vector.

Definition at line 1539 of file lightweight_geom_data.h.

◆ TPolygon3D() [4/4]

mrpt::math::TPolygon3D::TPolygon3D ( const TPolygon2D & p )

explicit

Constructor from a 2D object.

Zeroes the z.

Definition at line 1139 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint3D::size().

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Member Function Documentation

◆ contains()

bool mrpt::math::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 1085 of file lightweight_geom_data.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::getEpsilon(), getPlane(), mrpt::math::getPrismBounds(), mrpt::math::project3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

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◆ createRegularPolygon() [1/2]

void mrpt::math::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 1145 of file lightweight_geom_data.cpp.

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

Referenced by createRegularPolygon().

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◆ createRegularPolygon() [2/2]

void mrpt::math::TPolygon3D::createRegularPolygon	(	size_t	numEdges,
		double	radius,
		TPolygon3D &	poly,
		const mrpt::poses::CPose3D &	pose
	)

inlinestatic

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 1158 of file lightweight_geom_data.cpp.

References mrpt::poses::CPose3D::composePoint(), and createRegularPolygon().

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◆ distance()

double mrpt::math::TPolygon3D::distance ( const TPoint3D & point ) const

Distance to point (always >=0)

Definition at line 1071 of file lightweight_geom_data.cpp.

References mrpt::math::TPolygon2D::distance(), mrpt::math::TPlane::getAsPose3DForcingOrigin(), getPlane(), mrpt::math::project3D(), and mrpt::math::TPoint3D::z.

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◆ generate2DObject()

void mrpt::math::TPolygon3D::generate2DObject ( TPolygon2D & p ) const

inline

Projects into a 2D space, discarding the z.

See also: getPlane,isSkew

Definition at line 1523 of file lightweight_geom_data.h.

◆ getAsSegmentList()

void mrpt::math::TPolygon3D::getAsSegmentList ( std::vector< TSegment3D > & v ) const

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

Definition at line 1111 of file lightweight_geom_data.cpp.

References mrpt::math::size().

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◆ getBestFittingPlane()

void mrpt::math::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 1120 of file lightweight_geom_data.cpp.

References mrpt::math::getRegressionPlane().

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

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◆ getCenter()

void mrpt::math::TPolygon3D::getCenter ( TPoint3D & p ) const

Get polygon's central point.

Definition at line 1124 of file lightweight_geom_data.cpp.

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

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

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◆ getPlane()

bool mrpt::math::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 1119 of file lightweight_geom_data.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 mrpt::math::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 1132 of file lightweight_geom_data.cpp.

References mrpt::math::conformAPlane().

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◆ removeRedundantVertices()

void mrpt::math::TPolygon3D::removeRedundantVertices ( )

Erase every redundant vertex, thus saving space.

Definition at line 1134 of file lightweight_geom_data.cpp.

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

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◆ removeRepeatedVertices()

void mrpt::math::TPolygon3D::removeRepeatedVertices ( )

Remove polygon's repeated vertices.

Definition at line 1133 of file lightweight_geom_data.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

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Member Data Documentation

◆ elements

T std::vector< T >::elements

inherited

STL member.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ TPolygon3D() [1/4]

◆ TPolygon3D() [2/4]

◆ TPolygon3D() [3/4]

◆ TPolygon3D() [4/4]

Member Function Documentation

◆ contains()

◆ createRegularPolygon() [1/2]

◆ createRegularPolygon() [2/2]

◆ distance()

◆ generate2DObject()

◆ getAsSegmentList()

◆ getBestFittingPlane()

◆ getCenter()

◆ getPlane()

◆ isSkew()

◆ removeRedundantVertices()

◆ removeRepeatedVertices()

Member Data Documentation

◆ elements