Detailed Description

A wrapper of a TPolygon2D class, implementing CSerializable.

#include <mrpt/math/CPolygon.h>

Inheritance diagram for mrpt::math::CPolygon:

Public Member Functions
	CPolygon ()
	Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored.
void	AddVertex (double x, double y)
	Add a new vertex to polygon:
double	GetVertex_x (size_t i) const
	Methods for accessing the vertexs:
double	GetVertex_y (size_t i) const
size_t	verticesCount () const
	Returns the vertices count in the polygon:
void	setAllVertices (const std::vector< double > &x, const std::vector< double > &y)
	Set all vertices at once.
void	setAllVertices (size_t nVertices, const double xs, const double ys)
	Set all vertices at once.
void	setAllVertices (size_t nVertices, const float xs, const float ys)
	Set all vertices at once.
void	getAllVertices (std::vector< double > &x, std::vector< double > &y) const
	Get all vertices at once.
void	Clear ()
	Clear the polygon, erasing all vertexs.
bool	PointIntoPolygon (double x, double y) const
	Check if a point is inside the polygon:
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
double	distance (const TPoint2D &point) const
	Distance to a point.
bool	contains (const TPoint2D &point) const
	Check whether a point is inside the polygon.
void	getAsSegmentList (std::vector< TSegment2D > &v) const
	Gets as set of segments, instead of points.
void	generate3DObject (TPolygon3D &p) const
	Projects into 3D space, zeroing the z.
void	getCenter (TPoint2D &p) const
	Polygon's central point.
bool	isConvex () const
	Checks whether is convex.
void	removeRepeatedVertices ()
	Erase repeated vertices.
void	removeRedundantVertices ()
	Erase every redundant vertex from the polygon, saving space.
void	getPlotData (std::vector< double > &x, std::vector< double > &y) const
	Gets plot data, ready to use on a 2D plot.
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.
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon2D &poly, const mrpt::poses::CPose2D &pose)
	Static method to create a regular polygon from its size and radius.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
typedef CPolygonPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPolygon
static mrpt::utils::TRuntimeClassId	classCPolygon
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPolygonPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream

Member Typedef Documentation

typedef CPolygonPtr mrpt::math::CPolygon::SmartPtr

A typedef for the associated smart pointer

Definition at line 48 of file CPolygon.h.

Constructor & Destructor Documentation

mrpt::math::CPolygon::CPolygon ( ) [inline]

Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored.

See also:: PointIntoPolygon

Definition at line 56 of file CPolygon.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::math::CPolygon::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

void mrpt::math::CPolygon::AddVertex	(	double	x,
		double	y
	)		`[inline]`

Add a new vertex to polygon:

Definition at line 61 of file CPolygon.h.

References push_back().

void mrpt::math::CPolygon::Clear ( ) [inline]

Clear the polygon, erasing all vertexs.

Definition at line 85 of file CPolygon.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

bool mrpt::math::TPolygon2D::contains ( const TPoint2D & point ) const [inherited]

Check whether a point is inside the polygon.

Referenced by PointIntoPolygon().

static CPolygonPtr mrpt::math::CPolygon::Create ( ) [static]

static mrpt::utils::CObject* mrpt::math::CPolygon::CreateObject ( ) [static]

static void mrpt::math::TPolygon2D::createRegularPolygon	(	size_t	numEdges,
		double	radius,
		TPolygon2D &	poly
	)		`[static, inherited]`

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

Exceptions:

std::logic_error if radius is near zero or the number of edges is less than three.

static void mrpt::math::TPolygon2D::createRegularPolygon	(	size_t	numEdges,
		double	radius,
		TPolygon2D &	poly,
		const mrpt::poses::CPose2D &	pose
	)		`[inline, static, inherited]`

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

The center will correspond to the given pose.

Exceptions:

std::logic_error if radius is near zero or the number of edges is less than three.

double mrpt::math::TPolygon2D::distance ( const TPoint2D & point ) const [inherited]

Distance to a point.

virtual mrpt::utils::CObject* mrpt::math::CPolygon::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

void mrpt::math::TPolygon2D::generate3DObject ( TPolygon3D & p ) const [inherited]

Projects into 3D space, zeroing the z.

void mrpt::math::CPolygon::getAllVertices	(	std::vector< double > &	x,
		std::vector< double > &	y
	)		const

Get all vertices at once.

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

Gets as set of segments, instead of points.

void mrpt::math::TPolygon2D::getCenter ( TPoint2D & p ) const [inherited]

Polygon's central point.

void mrpt::math::TPolygon2D::getPlotData	(	std::vector< double > &	x,
		std::vector< double > &	y
	)		const `[inherited]`

Gets plot data, ready to use on a 2D plot.

See also:: mrpt::gui::CDisplayWindowPlots

virtual const mrpt::utils::TRuntimeClassId* mrpt::math::CPolygon::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

double mrpt::math::CPolygon::GetVertex_x ( size_t i ) const [inline]

Methods for accessing the vertexs:

See also:: verticesCount

Definition at line 68 of file CPolygon.h.

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

double mrpt::math::CPolygon::GetVertex_y ( size_t i ) const [inline]

Definition at line 69 of file CPolygon.h.

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

bool mrpt::math::TPolygon2D::isConvex ( ) const [inherited]

Checks whether is convex.

bool mrpt::math::CPolygon::PointIntoPolygon	(	double	x,
		double	y
	)		const `[inline]`

Check if a point is inside the polygon:

Definition at line 89 of file CPolygon.h.

References mrpt::math::TPolygon2D::contains().

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::math::TPolygon2D::removeRedundantVertices ( ) [inherited]

Erase every redundant vertex from the polygon, saving space.

See also:: removeRepeatedVertices

void mrpt::math::TPolygon2D::removeRepeatedVertices ( ) [inherited]

Erase repeated vertices.

See also:: removeRedundantVertices

void mrpt::math::CPolygon::setAllVertices	(	const std::vector< double > &	x,
		const std::vector< double > &	y
	)

Set all vertices at once.

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const double *	xs,
		const double *	ys
	)

Set all vertices at once.

Please use the std::vector version whenever possible unless efficiency is really an issue

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const float *	xs,
		const float *	ys
	)

Set all vertices at once.

Please use the std::vector version whenever possible unless efficiency is really an issue

size_t mrpt::math::CPolygon::verticesCount ( ) const [inline]

Returns the vertices count in the polygon:

Definition at line 72 of file CPolygon.h.

References mrpt::math::size().

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer