MRPT  1.9.9
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

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]

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

Constructor from a 3D object.

Definition at line 1231 of file TPoseOrPoint.cpp.

References mrpt::math::internal::ProvideStaticResize< Derived >::size().

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Member Function Documentation

◆ contains()

bool mrpt::math::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 1125 of file TPoseOrPoint.cpp.

References mrpt::math::isLeft(), mrpt::math::size(), and mrpt::math::TPoint2D_data::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(), and mrpt::math::CPolygon::PointIntoPolygon().

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◆ createRegularPolygon() [1/2]

void mrpt::math::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_errorif radius is near zero or the number of edges is less than three.

Definition at line 1237 of file TPoseOrPoint.cpp.

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

Referenced by createRegularPolygon().

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◆ createRegularPolygon() [2/2]

void mrpt::math::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_errorif radius is near zero or the number of edges is less than three.

Definition at line 1250 of file TPoseOrPoint.cpp.

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

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◆ distance()

double mrpt::math::TPolygon2D::distance ( const TPoint2D point) const

Distance to a point (always >=0)

Definition at line 1078 of file TPoseOrPoint.cpp.

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

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

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◆ generate3DObject()

void mrpt::math::TPolygon2D::generate3DObject ( TPolygon3D p) const

Projects into 3D space, zeroing the z.

Definition at line 1162 of file TPoseOrPoint.cpp.

◆ getAsSegmentList()

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

Gets as set of segments, instead of points.

Definition at line 1153 of file TPoseOrPoint.cpp.

References mrpt::math::size().

Referenced by distance(), and isConvex().

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◆ getBoundingBox()

void mrpt::math::TPolygon2D::getBoundingBox ( TPoint2D min_coords,
TPoint2D max_coords 
) const

Get polygon bounding box.

Exceptions
Onempty polygon

Definition at line 1097 of file TPoseOrPoint.cpp.

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

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◆ getCenter()

void mrpt::math::TPolygon2D::getCenter ( TPoint2D p) const

Polygon's central point.

Definition at line 1181 of file TPoseOrPoint.cpp.

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

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◆ getPlotData()

void mrpt::math::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 1217 of file TPoseOrPoint.cpp.

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

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

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◆ isConvex()

bool mrpt::math::TPolygon2D::isConvex ( ) const

Checks whether is convex.

Definition at line 1188 of file TPoseOrPoint.cpp.

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

Referenced by myTestPolygonContainsPoint().

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◆ removeRedundantVertices()

void mrpt::math::TPolygon2D::removeRedundantVertices ( )

Erase every redundant vertex from the polygon, saving space.

See also
removeRepeatedVertices

Definition at line 1212 of file TPoseOrPoint.cpp.

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

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

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◆ removeRepeatedVertices()

void mrpt::math::TPolygon2D::removeRepeatedVertices ( )

Erase repeated vertices.

See also
removeRedundantVertices

Definition at line 1211 of file TPoseOrPoint.cpp.

References mrpt::math::removeRepVertices().

Referenced by removeRedundantVertices().

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Member Data Documentation

◆ elements

T std::vector< T >::elements
inherited

STL member.




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