SimPolygon2D.h

Go to the documentation of this file.

 
#pragma once
 
#include <gtsam/geometry/Pose2.h>
#include <gtsam_unstable/geometry/SimWall2D.h>
 
#include <map>
#include <random>
 
namespace gtsam {
 
class GTSAM_UNSTABLE_EXPORT SimPolygon2D {
protected:
  Point2Vector landmarks_;
  static std::minstd_rand rng;
 
public:
 
  SimPolygon2D() {}
 
  static void seedGenerator(unsigned long seed);
 
  static SimPolygon2D createTriangle(const Point2& pA, const Point2& pB, const Point2& pC);
 
  static SimPolygon2D createRectangle(const Point2& p, double height, double width);
 
  static SimPolygon2D randomTriangle(double side_len, double mean_side_len, double sigma_side_len,
      double min_vertex_dist, double min_side_len, const std::vector<SimPolygon2D>& existing_polys);
 
  static SimPolygon2D randomRectangle(double side_len, double mean_side_len, double sigma_side_len,
      double min_vertex_dist, double min_side_len, const std::vector<SimPolygon2D>& existing_polys);
 
  // access to underlying points
  const Point2& landmark(size_t i) const { return landmarks_[i]; }
  size_t size() const { return landmarks_.size(); }
  const Point2Vector& vertices() const { return landmarks_; }
 
  // testable requirements
  bool equals(const SimPolygon2D& p, double tol=1e-5) const;
  void print(const std::string& s="") const;
 
  std::vector<SimWall2D> walls() const;
 
  bool contains(const Point2& p) const;
 
  bool overlaps(const SimPolygon2D& p) const;
 
  static bool anyContains(const Point2& p, const std::vector<SimPolygon2D>& obstacles);
 
  static bool anyOverlaps(const SimPolygon2D& p, const std::vector<SimPolygon2D>& obstacles);
 
  static bool insideBox(double s, const Point2& p);
 
  static bool nearExisting(const Point2Vector& S,
      const Point2& p, double threshold);
 
  static Point2 randomPoint2(double s);
 
  static Rot2 randomAngle();
 
  static double randomDistance(double mu, double sigma, double min_dist = -1.0);
 
  static Point2 randomBoundedPoint2(double boundary_size,
      const Point2Vector& landmarks, double min_landmark_dist);
 
  static Point2 randomBoundedPoint2(double boundary_size,
      const Point2Vector& landmarks,
      const std::vector<SimPolygon2D>& obstacles, double min_landmark_dist);
 
  static Point2 randomBoundedPoint2(double boundary_size,
      const std::vector<SimPolygon2D>& obstacles);
 
  static Point2 randomBoundedPoint2(
      const Point2& LL_corner, const Point2& UR_corner,
      const Point2Vector& landmarks,
      const std::vector<SimPolygon2D>& obstacles, double min_landmark_dist);
 
  static Pose2 randomFreePose(double boundary_size, const std::vector<SimPolygon2D>& obstacles);
 
};
 
typedef std::vector<SimPolygon2D> SimPolygon2DVector;
 
} //\namespace gtsam