MRPT  1.9.9
mrpt::math::TPolygon3D Class Reference

Detailed Description

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

See also
TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 18 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

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 46 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 49 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 51 of file TPolygon3D.h.

◆ TPolygon3D() [4/4]

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

Constructor from a 2D object.

Zeroes the z.

Definition at line 1329 of file TPoseOrPoint.cpp.

References mrpt::math::internal::ProvideStaticResize< Derived >::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 1276 of file TPoseOrPoint.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::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::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_errorif number of edges is less than three, or radius is near zero.

Definition at line 1335 of file TPoseOrPoint.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::math::TPose3D 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_errorif number of edges is less than three, or radius is near zero.

Definition at line 1348 of file TPoseOrPoint.cpp.

References mrpt::math::TPose3D::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 1262 of file TPoseOrPoint.cpp.

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

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◆ generate2DObject()

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

Projects into a 2D space, discarding the z.

See also
getPlane,isSkew

Definition at line 1257 of file TPoseOrPoint.cpp.

◆ getAsSegmentList()

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

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

Definition at line 1301 of file TPoseOrPoint.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 1310 of file TPoseOrPoint.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 1314 of file TPoseOrPoint.cpp.

References mrpt::containers::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 1309 of file TPoseOrPoint.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 1322 of file TPoseOrPoint.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 1324 of file TPoseOrPoint.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 1323 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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