test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/system/datetime.h>
#include <mrpt/gui.h>
#include <mrpt/math/geometry.h>
#include <iostream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::math;
 
const unsigned int NUMBER_OF_EDGES = 20;
const double MIN_RADIUS = 5;
const double MAX_RADIUS = 40;
 
const double DIFF_RADIUS = MAX_RADIUS - MIN_RADIUS;
 
inline double randomDouble(size_t precision = 1000)
{
        return MIN_RADIUS +
                   DIFF_RADIUS * (static_cast<double>(rand() % precision) /
                                                  static_cast<double>(precision - 1));
}
 
void display()
{
        CDisplayWindowPlots win1("Unsplitted polygon", 400, 300);
        win1.enableMousePanZoom(true);
        TPolygon2D randomPoly(NUMBER_OF_EDGES);
        for (size_t i = 0; i < NUMBER_OF_EDGES; i++)
        {
                double ang = 2 * M_PI * i / NUMBER_OF_EDGES;
                double radius = randomDouble();
                randomPoly[i].x = radius * cos(ang);
                randomPoly[i].y = radius * sin(ang);
        }
        randomPoly.removeRedundantVertices();
        std::vector<double> x, y;
        randomPoly.getPlotData(x, y);
        win1.plot(x, y, "b-5", "Polygon");
        win1.axis_fit();
        std::vector<TPolygon2D> convexPolys;
        if (!splitInConvexComponents(randomPoly, convexPolys))
                convexPolys.push_back(randomPoly);
        CDisplayWindowPlots win2("Splitted polygon", 400, 300);
        win2.enableMousePanZoom(true);
        std::string plotName = "Polygon0";
        for (std::vector<TPolygon2D>::const_iterator it = convexPolys.begin();
                 it != convexPolys.end(); ++it)
        {
                plotName[7]++;
                it->getPlotData(x, y);
                win2.plot(x, y, "r-3", plotName);
                if (!it->isConvex()) cout << "FAIL.\n";
        }
        win2.axis_fit();
        while (!mrpt::system::os::kbhit() && win1.isOpen() && win2.isOpen())
                ;
}
 
int main(int argc, char** argv)
{
        srand(
                (unsigned int)mrpt::system::extractDayTimeFromTimestamp(
                        mrpt::system::getCurrentLocalTime()));
        display();
        return 0;
}