PolyOps Class Reference

#include <PolyOps.h>

List of all members.

Public Member Functions
void	add_polys_for_waypts (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, ElementID from_id, ElementID to_id)
void	AddLanePolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, ElementID id)
void	AddLanePolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, WayPointNode waypt)
void	AddLanePolysEither (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, WayPointNode waypt, int direction)
void	AddReverseLanePolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, ElementID id)
void	AddReverseLanePolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, WayPointNode waypt)
void	AddTransitionPolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, WayPointNode way0, WayPointNode way1)
float	avgLengthOfPolySides (const poly &p)
MapXY	centerpoint (const poly &p)
void	CollectPolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, unsigned start, unsigned end)
void	CollectPolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, unsigned start)
float	distanceAlongLane (const std::vector< poly > &polygons, const MapXY &from, const MapXY &to)
int	get_waypoint_index (const std::vector< poly > &polys, const ElementID &waypoint)
int	getClosestNonTransPoly (const std::vector< poly > &polys, float x, float y)
int	getClosestNonTransPoly (const std::vector< poly > &polys, MapXY pt)
MapXY	GetClosestPointToLine (MapXY A, MapXY B, MapXY P, bool segmentClamp)
int	getClosestPoly (const std::vector< poly > &polys, float x, float y)
int	getClosestPoly (const std::vector< poly > &polys, MapXY pt)
int	getClosestPoly (const std::vector< poly > &polys, const MapPose &pose)
int	getContainingPoly (const std::vector< poly > &polys, float x, float y)
int	getContainingPoly (const std::vector< poly > &polys, const MapXY &pt)
int	getContainingPoly (const std::vector< poly > &polys, const MapPose &pose)
poly_id_t	getContainingPolyID (const std::vector< poly > &polys, float x, float y)
poly_id_t	getContainingPolyID (const std::vector< poly > &polys, const MapXY &pt)
void	getLaneDir (const std::vector< poly > &polys, std::vector< poly > &to_polys, const int relative, const int direction, const MapPose &pose)
void	GetLanes (poly_list_t &polyList, art_msgs::ArtLanes &lanes)
float	getLength (const poly &p)
std::vector< MapXY >	getPointsFromPolys (const std::vector< poly > &polys)
MapXY	getPolyEdgeMidpoint (const poly &p)
int	getPolyIndex (const std::vector< poly > &polys, const poly &curPoly)
std::set< ElementID >	getPolyLaneIds (const std::vector< poly > &polys)
void	GetPolys (const art_msgs::ArtLanes &lanes, poly_list_t &polyList)
std::vector< poly >	getPolysBetweenPoints (const std::vector< poly > &polys, float x1, float y1, float x2, float y2)
void	getPolysBetweenWayPts (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, ElementID from_id, ElementID to_id)
int	getPolyWayPt (const std::vector< poly > &polys, const ElementID &waypoint)
void	getRemainingPolys (const std::vector< poly > &from_polys, std::vector< poly > &to_polys, const MapXY &point)
ElementID	getReverseLane (const std::vector< poly > &polys, const MapPose &pose)
std::vector< MapXY >	getRoadPerimeterPoints (const std::vector< poly > &polys, const ElementID way0, const ElementID way1)
std::vector< MapXY >	getRoadPerimeterPoints (const std::vector< poly > &polys, const ElementID way0)
float	getShortestDistToPoly (float x, float y, const poly &p)
float	getShortestDistToPoly (MapXY pt, const poly &p)
int	getStartingPoly (const MapPose &pose, const std::vector< poly > &polygons, float distance, float min_heading)
poly_list_t	getTransitionPolys (const poly_list_t &polys)
int	index_of_downstream_poly (const std::vector< poly > &polygons, int start_index, float distance)
bool	isValidPoly (const poly &p)
bool	LanePoly (const poly &curPoly, ElementID id)
bool	LanePoly (const poly &curPoly, WayPointNode waypt)
bool	left_of_poly (const poly &this_poly, const poly &cur_poly)
bool	match_waypt_poly (const poly &curPoly, ElementID way0, ElementID way1)
bool	match_waypt_poly (const poly &curPoly, ElementID way)
bool	MatchTransitionPoly (const poly &curPoly, const WayPointNode &way0, const WayPointNode &way1)
MapXY	midpoint (const MapXY &p1, const MapXY &p2)
bool	pointInHull (float x, float y, const poly &p)
bool	pointInPoly (float x, float y, const poly &p)
bool	pointInPoly (const MapXY &pt, const poly &p)
bool	pointInPoly (const Polar &polar, const MapPose &origin, const poly &p)
bool	pointInPoly_ratio (float x, float y, const poly &p, float ratio)
bool	pointInPoly_ratio (const MapXY &pt, const poly &p, float ratio)
bool	pointNearPoly (double x, double y, const poly &poly, double epsilon)
bool	pointNearPoly (const MapXY &pt, const poly &poly, double epsilon)
bool	pointOnEdges (float x, float y, const poly &p)
bool	pointOnSegment (float x, float y, MapXY p1, MapXY p2)
float	PolyHeading (const poly &curPoly)
	PolyOps ()
void	printPolygons (const poly_list_t &polys)
bool	same_direction (const poly &p1, const poly &p2, float angle)
float	shortestDistToLineSegment (float x, float y, float line_x1, float line_y1, float line_x2, float line_y2)
std::pair< float, MapXY >	specialDistanceAlongLane (const std::vector< poly > &polygons, const MapXY &from, const MapXY &to)
	~PolyOps ()
Private Member Functions
float	distance (float x1, float y1, float x2, float y2)
float	length_between_polygons (const std::vector< poly > &polygons, int index1=-1, int index2=-1)

---

Detailed Description

Polygon operations.

Todo:

This class has no state. It should be replaced by a collection of functions in an appropriate namespace.

Definition at line 141 of file PolyOps.h.

---

Constructor & Destructor Documentation

PolyOps::PolyOps

(

)

Definition at line 33 of file PolyOps.cc.

PolyOps::~PolyOps

(

)

Definition at line 38 of file PolyOps.cc.

---

Member Function Documentation

void PolyOps::add_polys_for_waypts	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		ElementID	from_id,
		ElementID	to_id
	)

Definition at line 469 of file PolyOps.cc.

void PolyOps::AddLanePolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		ElementID	id
	)

Definition at line 519 of file PolyOps.cc.

void PolyOps::AddLanePolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		WayPointNode	waypt
	)

Definition at line 533 of file PolyOps.cc.

void PolyOps::AddLanePolysEither	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		WayPointNode	waypt,
		int	direction
	)

Definition at line 541 of file PolyOps.cc.

void PolyOps::AddReverseLanePolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		ElementID	id
	)

Definition at line 553 of file PolyOps.cc.

void PolyOps::AddReverseLanePolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		WayPointNode	waypt
	)

Definition at line 571 of file PolyOps.cc.

void PolyOps::AddTransitionPolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		WayPointNode	way0,
		WayPointNode	way1
	)

Definition at line 504 of file PolyOps.cc.

float PolyOps::avgLengthOfPolySides

(

const poly &

p

)

Definition at line 908 of file PolyOps.cc.

MapXY PolyOps::centerpoint

(

const poly &

p

)

Definition at line 277 of file PolyOps.cc.

void PolyOps::CollectPolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		unsigned	start,
		unsigned	end
	)

Definition at line 578 of file PolyOps.cc.

void PolyOps::CollectPolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		unsigned	start
	)

Definition at line 586 of file PolyOps.cc.

float PolyOps::distance	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)		[private]

Definition at line 395 of file PolyOps.cc.

float PolyOps::distanceAlongLane	(	const std::vector< poly > &	polygons,
		const MapXY &	from,
		const MapXY &	to
	)

Definition at line 800 of file PolyOps.cc.

int PolyOps::get_waypoint_index	(	const std::vector< poly > &	polys,
		const ElementID &	waypoint
	)

Definition at line 442 of file PolyOps.cc.

int PolyOps::getClosestNonTransPoly	(	const std::vector< poly > &	polys,
		float	x,
		float	y
	)

Definition at line 202 of file PolyOps.cc.

int PolyOps::getClosestNonTransPoly	(	const std::vector< poly > &	polys,
		MapXY	pt
	)		[inline]

Definition at line 466 of file PolyOps.h.

MapXY PolyOps::GetClosestPointToLine	(	MapXY	A,
		MapXY	B,
		MapXY	P,
		bool	segmentClamp
	)

Definition at line 1290 of file PolyOps.cc.

int PolyOps::getClosestPoly	(	const std::vector< poly > &	polys,
		float	x,
		float	y
	)

Definition at line 163 of file PolyOps.cc.

int PolyOps::getClosestPoly	(	const std::vector< poly > &	polys,
		MapXY	pt
	)		[inline]

Definition at line 442 of file PolyOps.h.

int PolyOps::getClosestPoly	(	const std::vector< poly > &	polys,
		const MapPose &	pose
	)		[inline]

Definition at line 446 of file PolyOps.h.

int PolyOps::getContainingPoly	(	const std::vector< poly > &	polys,
		float	x,
		float	y
	)

Get containing polygon

Parameters:

polys	vector of polygons to consider
x,y	MapXY coordinates of desired point

Returns:

index of polygon containing location (x, y) in polys -1 if no such polygon is found

Definition at line 85 of file PolyOps.cc.

int PolyOps::getContainingPoly	(	const std::vector< poly > &	polys,
		const MapXY &	pt
	)		[inline]

Definition at line 362 of file PolyOps.h.

int PolyOps::getContainingPoly	(	const std::vector< poly > &	polys,
		const MapPose &	pose
	)		[inline]

Definition at line 367 of file PolyOps.h.

poly_id_t PolyOps::getContainingPolyID	(	const std::vector< poly > &	polys,
		float	x,
		float	y
	)		[inline]

Definition at line 374 of file PolyOps.h.

poly_id_t PolyOps::getContainingPolyID	(	const std::vector< poly > &	polys,
		const MapXY &	pt
	)		[inline]

Definition at line 383 of file PolyOps.h.

void PolyOps::getLaneDir	(	const std::vector< poly > &	polys,
		std::vector< poly > &	to_polys,
		const int	relative,
		const int	direction,
		const MapPose &	pose
	)

Definition at line 1100 of file PolyOps.cc.

void PolyOps::GetLanes	(	poly_list_t &	polyList,
		art_msgs::ArtLanes &	lanes
	)

Definition at line 602 of file PolyOps.cc.

float PolyOps::getLength

(

const poly &

p

)

Definition at line 282 of file PolyOps.cc.

std::vector< MapXY > PolyOps::getPointsFromPolys

(

const std::vector< poly > &

polys

)

Definition at line 383 of file PolyOps.cc.

MapXY PolyOps::getPolyEdgeMidpoint

(

const poly &

p

)

Definition at line 269 of file PolyOps.cc.

int PolyOps::getPolyIndex	(	const std::vector< poly > &	polys,
		const poly &	curPoly
	)		[inline]

Definition at line 403 of file PolyOps.h.

std::set< ElementID > PolyOps::getPolyLaneIds

(

const std::vector< poly > &

polys

)

Definition at line 918 of file PolyOps.cc.

void PolyOps::GetPolys	(	const art_msgs::ArtLanes &	lanes,
		poly_list_t &	polyList
	)

Definition at line 594 of file PolyOps.cc.

std::vector< poly > PolyOps::getPolysBetweenPoints	(	const std::vector< poly > &	polys,
		float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 292 of file PolyOps.cc.

void PolyOps::getPolysBetweenWayPts	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		ElementID	from_id,
		ElementID	to_id
	)

Definition at line 1315 of file PolyOps.cc.

int PolyOps::getPolyWayPt	(	const std::vector< poly > &	polys,
		const ElementID &	waypoint
	)

Definition at line 454 of file PolyOps.cc.

void PolyOps::getRemainingPolys	(	const std::vector< poly > &	from_polys,
		std::vector< poly > &	to_polys,
		const MapXY &	point
	)

Definition at line 349 of file PolyOps.cc.

ElementID PolyOps::getReverseLane	(	const std::vector< poly > &	polys,
		const MapPose &	pose
	)

Definition at line 1198 of file PolyOps.cc.

std::vector< MapXY > PolyOps::getRoadPerimeterPoints	(	const std::vector< poly > &	polys,
		const ElementID	way0,
		const ElementID	way1
	)

Definition at line 1356 of file PolyOps.cc.

std::vector< MapXY > PolyOps::getRoadPerimeterPoints	(	const std::vector< poly > &	polys,
		const ElementID	way0
	)

Definition at line 1435 of file PolyOps.cc.

float PolyOps::getShortestDistToPoly	(	float	x,
		float	y,
		const poly &	p
	)

Definition at line 131 of file PolyOps.cc.

float PolyOps::getShortestDistToPoly	(	MapXY	pt,
		const poly &	p
	)		[inline]

Definition at line 429 of file PolyOps.h.

int PolyOps::getStartingPoly	(	const MapPose &	pose,
		const std::vector< poly > &	polygons,
		float	distance,
		float	min_heading
	)

Get closest polygon in front of robot's current pose

Useful when starting off road.

Parameters:

pose	current vehicle pose (2D map coordinates)
polygons	list of polygons
distance	looks ahead a certain amount so that we don't turn sharply to reach a nearby waypoint.
min_heading	angle to accept polygon as valid

Returns:

index in polygons of closest polygon within min_heading and distance.

Definition at line 646 of file PolyOps.cc.

poly_list_t PolyOps::getTransitionPolys

(

const poly_list_t &

polys

)

Definition at line 1242 of file PolyOps.cc.

int PolyOps::index_of_downstream_poly	(	const std::vector< poly > &	polygons,
		int	start_index,
		float	distance
	)

Definition at line 881 of file PolyOps.cc.

bool PolyOps::isValidPoly

(

const poly &

p

)

Definition at line 1270 of file PolyOps.cc.

bool PolyOps::LanePoly	(	const poly &	curPoly,
		ElementID	id
	)

Definition at line 617 of file PolyOps.cc.

bool PolyOps::LanePoly	(	const poly &	curPoly,
		WayPointNode	waypt
	)

Definition at line 611 of file PolyOps.cc.

bool PolyOps::left_of_poly	(	const poly &	this_poly,
		const poly &	cur_poly
	)		[inline]

Definition at line 661 of file PolyOps.h.

float PolyOps::length_between_polygons	(	const std::vector< poly > &	polygons,
		int	index1 = -1,
		int	index2 = -1
	)		[private]

Definition at line 771 of file PolyOps.cc.

bool PolyOps::match_waypt_poly	(	const poly &	curPoly,
		ElementID	way0,
		ElementID	way1
	)		[inline]

Definition at line 206 of file PolyOps.h.

bool PolyOps::match_waypt_poly	(	const poly &	curPoly,
		ElementID	way
	)		[inline]

Definition at line 213 of file PolyOps.h.

bool PolyOps::MatchTransitionPoly	(	const poly &	curPoly,
		const WayPointNode &	way0,
		const WayPointNode &	way1
	)

Definition at line 627 of file PolyOps.cc.

MapXY PolyOps::midpoint	(	const MapXY &	p1,
		const MapXY &	p2
	)

Definition at line 902 of file PolyOps.cc.

bool PolyOps::pointInHull	(	float	x,
		float	y,
		const poly &	p
	)		[inline]

Definition at line 228 of file PolyOps.h.

bool PolyOps::pointInPoly	(	float	x,
		float	y,
		const poly &	p
	)		[inline]

Definition at line 281 of file PolyOps.h.

bool PolyOps::pointInPoly	(	const MapXY &	pt,
		const poly &	p
	)		[inline]

Definition at line 313 of file PolyOps.h.

bool PolyOps::pointInPoly	(	const Polar &	polar,
		const MapPose &	origin,
		const poly &	p
	)		[inline]

Definition at line 318 of file PolyOps.h.

bool PolyOps::pointInPoly_ratio	(	float	x,
		float	y,
		const poly &	p,
		float	ratio
	)

Definition at line 44 of file PolyOps.cc.

bool PolyOps::pointInPoly_ratio	(	const MapXY &	pt,
		const poly &	p,
		float	ratio
	)		[inline]

Definition at line 329 of file PolyOps.h.

bool PolyOps::pointNearPoly	(	double	x,
		double	y,
		const poly &	poly,
		double	epsilon
	)		[inline]

Definition at line 340 of file PolyOps.h.

bool PolyOps::pointNearPoly	(	const MapXY &	pt,
		const poly &	poly,
		double	epsilon
	)		[inline]

Definition at line 344 of file PolyOps.h.

bool PolyOps::pointOnEdges	(	float	x,
		float	y,
		const poly &	p
	)		[inline]

Definition at line 273 of file PolyOps.h.

bool PolyOps::pointOnSegment	(	float	x,
		float	y,
		MapXY	p1,
		MapXY	p2
	)		[inline]

Definition at line 244 of file PolyOps.h.

float PolyOps::PolyHeading

(

const poly &

curPoly

)

Definition at line 636 of file PolyOps.cc.

void PolyOps::printPolygons

(

const poly_list_t &

polys

)

Definition at line 1228 of file PolyOps.cc.

bool PolyOps::same_direction	(	const poly &	p1,
		const poly &	p2,
		float	angle
	)		[inline]

Definition at line 672 of file PolyOps.h.

float PolyOps::shortestDistToLineSegment	(	float	x,
		float	y,
		float	line_x1,
		float	line_y1,
		float	line_x2,
		float	line_y2
	)

Definition at line 400 of file PolyOps.cc.

std::pair< float, MapXY > PolyOps::specialDistanceAlongLane	(	const std::vector< poly > &	polygons,
		const MapXY &	from,
		const MapXY &	to
	)

Definition at line 811 of file PolyOps.cc.

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The documentation for this class was generated from the following files:

• PolyOps.h
• PolyOps.cc