#include <Polygon.hpp>

Public Types
enum	TriangulationMethods { FAN }
Public Member Functions
void	addVertex (const Position &vertex)
bool	convertToInequalityConstraints (Eigen::MatrixXd &A, Eigen::VectorXd &b) const
double	getArea () const
void	getBoundingBox (Position &center, Length &length) const
Position	getCentroid () const
const std::string &	getFrameId () const
uint64_t	getTimestamp () const
const Position &	getVertex (const size_t index) const
const std::vector< Position > &	getVertices () const
bool	isInside (const Position &point) const
size_t	nVertices () const
bool	offsetInward (const double margin)
const Position &	operator[] (const size_t index) const
	Polygon ()
	Polygon (std::vector< Position > vertices)
void	removeVertices ()
void	resetTimestamp ()
void	setFrameId (const std::string &frameId)
void	setTimestamp (const uint64_t timestamp)
bool	thickenLine (const double thickness)
std::vector< Polygon >	triangulate (const TriangulationMethods &method=TriangulationMethods::FAN) const
virtual	~Polygon ()
Static Public Member Functions
static Polygon	convexHull (Polygon &polygon1, Polygon &polygon2)
static Polygon	convexHullOfTwoCircles (const Position center1, const Position center2, const double radius, const int nVertices=20)
static Polygon	fromCircle (const Position center, const double radius, const int nVertices=20)
static Polygon	monotoneChainConvexHullOfPoints (const std::vector< Position > &points)
Static Protected Member Functions
static double	computeCrossProduct2D (const Eigen::Vector2d &vector1, const Eigen::Vector2d &vector2)
static bool	sortVertices (const Eigen::Vector2d &vector1, const Eigen::Vector2d &vector2)
static double	vectorsMakeClockwiseTurn (const Eigen::Vector2d &pointO, const Eigen::Vector2d &pointA, const Eigen::Vector2d &pointB)
Protected Attributes
std::string	frameId_
	Frame id of the polygon.
uint64_t	timestamp_
	Timestamp of the polygon (nanoseconds).
std::vector< Position >	vertices_
	Vertices of the polygon.

Detailed Description

Definition at line 21 of file Polygon.hpp.

Member Enumeration Documentation

enum grid_map::Polygon::TriangulationMethods

Enumerator:

FAN

Definition at line 25 of file Polygon.hpp.

Constructor & Destructor Documentation

grid_map::Polygon::Polygon ( )

Default constructor.

Definition at line 19 of file Polygon.cpp.

grid_map::Polygon::Polygon ( std::vector< Position > vertices )

Constructor with vertices.

Parameters:

vertices the points of the polygon.

Definition at line 24 of file Polygon.cpp.

grid_map::Polygon::~Polygon ( ) [virtual]

Destructor.

Definition at line 30 of file Polygon.cpp.

Member Function Documentation

void grid_map::Polygon::addVertex ( const Position & vertex )

Add a vertex to the polygon

Parameters:

vertex the point to be added.

Definition at line 46 of file Polygon.cpp.

double grid_map::Polygon::computeCrossProduct2D	(	const Eigen::Vector2d &	vector1,
		const Eigen::Vector2d &	vector2
	)		`[static, protected]`

Returns the 2D cross product of vector1 and vector2.

Parameters:

[in]	vector1	the first input vector.
[in]	vector2	the second input vector.

Definition at line 341 of file Polygon.cpp.

bool grid_map::Polygon::convertToInequalityConstraints	(	Eigen::MatrixXd &	A,
		Eigen::VectorXd &	b
	)		const

Convert polygon to inequality constraints which most tightly contain the points; i.e., create constraints to bound the convex hull of polygon. The inequality constraints are represented as A and b, a set of constraints such that A*x <= b defining the region of space enclosing the convex hull. Based on the VERT2CON MATLAB method by Michael Kleder: http://www.mathworks.com/matlabcentral/fileexchange/7895-vert2con-vertices-to-constraints

Parameters:

A	the A matrix in of the inequality constraint.
b	the b matrix in of the inequality constraint.

Returns:: true if conversion successful, false otherwise.

Definition at line 148 of file Polygon.cpp.

Polygon grid_map::Polygon::convexHull	(	Polygon &	polygon1,
		Polygon &	polygon2
	)		`[static]`

Computes the convex hull of two polygons and returns it as polygon.

Parameters:

[in]	polygon1	the first input polygon.
[in]	polygon2	the second input polygon.

Returns:: convex hull as polygon.

Definition at line 289 of file Polygon.cpp.

Polygon grid_map::Polygon::convexHullOfTwoCircles	(	const Position	center1,
		const Position	center2,
		const double	radius,
		const int	nVertices = `20`
	)		`[static]`

Approximates two circles with a convex hull and returns it as polygon.

Parameters:

[in]	center1	the center position of the first circle.
[in]	center2	the center position of the second circle.
[in]	radius	radius of the circles.
[in]	nVertices	number of vertices of the approximation polygon. Default = 20.

Returns:: convex hull of the two circles as polygon.

Definition at line 263 of file Polygon.cpp.

Polygon grid_map::Polygon::fromCircle	(	const Position	center,
		const double	radius,
		const int	nVertices = `20`
	)		`[static]`

Approximates a circle with a polygon.

Parameters:

[in]	center	the center position of the circle.
[in]	radius	radius of the circle.
[in]	nVertices	number of vertices of the approximation polygon. Default = 20.

Returns:: circle as polygon.

Definition at line 248 of file Polygon.cpp.

double grid_map::Polygon::getArea ( ) const

Get the area of the polygon. The polygon has to be "simple", i.e. not crossing itself.

Returns:: area of the polygon.

Definition at line 101 of file Polygon.cpp.

void grid_map::Polygon::getBoundingBox	(	Position &	center,
		Length &	length
	)		const

Gets the bounding box of the polygon.

Parameters:

center	the center of the bounding box.
length	the side lengths of the bounding box.

Definition at line 130 of file Polygon.cpp.

Position grid_map::Polygon::getCentroid ( ) const

Get the centroid of polygon. The polygon has to be "simple", i.e. not crossing itself.

Returns:: centroid of polygon.

Definition at line 113 of file Polygon.cpp.

const std::string & grid_map::Polygon::getFrameId ( ) const

Get the frameId of the polygon.

Returns:: frameId.

Definition at line 76 of file Polygon.cpp.

uint64_t grid_map::Polygon::getTimestamp ( ) const

Get the timestamp of the polygon.

Returns:: timestamp in nanoseconds.

Definition at line 86 of file Polygon.cpp.

const Position & grid_map::Polygon::getVertex ( const size_t index ) const

Get the vertex with index.

Parameters:

index the index of the requested vertex.

Returns:: the requested vertex.

Definition at line 51 of file Polygon.cpp.

const std::vector< Position > & grid_map::Polygon::getVertices ( ) const

Returns the vertices of the polygon.

Returns:: the vertices of the polygon.

Definition at line 66 of file Polygon.cpp.

bool grid_map::Polygon::isInside ( const Position & point ) const

Check if point is inside polygon.

Parameters:

point the point to be checked.

Returns:: true if inside, false otherwise.

Definition at line 32 of file Polygon.cpp.

Polygon grid_map::Polygon::monotoneChainConvexHullOfPoints ( const std::vector< Position > & points ) [static]

Computes the convex hull of given points, using Andrew's monotone chain convex hull algorithm, and returns it as polygon.

Parameters:

[in] points points to use to compute the convex hull used to create the polygon.

Returns:: convex hull as polygon.

Definition at line 299 of file Polygon.cpp.

size_t grid_map::Polygon::nVertices ( ) const

Returns the number of vertices.

Returns:: the number of vertices.

Definition at line 71 of file Polygon.cpp.

bool grid_map::Polygon::offsetInward ( const double margin )

Offsets the polygon inward (buffering) by a margin. Use a negative margin to offset the polygon outward.

Parameters:

margin the margin to offset the polygon by (in [m]).

Returns:: true if successful, false otherwise.

Definition at line 199 of file Polygon.cpp.

const Position & grid_map::Polygon::operator[] ( const size_t index ) const

Get vertex operator overload.

Parameters:

index the index of the requested vertex.

Returns:: the requested vertex.

Definition at line 61 of file Polygon.cpp.

void grid_map::Polygon::removeVertices ( )

Removes all vertices from the polygon.

Definition at line 56 of file Polygon.cpp.

void grid_map::Polygon::resetTimestamp ( )

Resets the timestamp of the polygon (to zero).

Definition at line 96 of file Polygon.cpp.

void grid_map::Polygon::setFrameId ( const std::string & frameId )

Set the frame id of the polygon.

Parameters:

frameId the frame id to set.

Definition at line 81 of file Polygon.cpp.

void grid_map::Polygon::setTimestamp ( const uint64_t timestamp )

Set the timestamp of the polygon.

Parameters:

timestamp the timestamp to set (in nanoseconds).

Definition at line 91 of file Polygon.cpp.

bool grid_map::Polygon::sortVertices	(	const Eigen::Vector2d &	vector1,
		const Eigen::Vector2d &	vector2
	)		`[static, protected]`

Returns true if the vector1 and vector2 are sorted lexicographically.

Parameters:

[in]	vector1	the first input vector.
[in]	vector2	the second input vector.

Definition at line 334 of file Polygon.cpp.

bool grid_map::Polygon::thickenLine ( const double thickness )

If only two verices are given, this methods generates a `thickened` line polygon with four vertices.

Parameters:

thickness the desired thickness of the line.

Returns:: true if successful, false otherwise.

Definition at line 184 of file Polygon.cpp.

std::vector< Polygon > grid_map::Polygon::triangulate ( const TriangulationMethods & method = TriangulationMethods::FAN ) const

Return a triangulated version of the polygon.

Returns:: a list of triangle polygons covering the same polygon.

Definition at line 223 of file Polygon.cpp.

double grid_map::Polygon::vectorsMakeClockwiseTurn	(	const Eigen::Vector2d &	pointO,
		const Eigen::Vector2d &	pointA,
		const Eigen::Vector2d &	pointB
	)		`[static, protected]`

Returns true if OAB makes a clockwise turn or if the OA and OB vectors are collinear.

Parameters:

[in]	pointO	point of the origin O, used to compute OA and OB.
[in]	pointA	input point A, used to compute OA.
[in]	pointB	input point B, used to compute OB.

Definition at line 347 of file Polygon.cpp.

Member Data Documentation

std::string grid_map::Polygon::frameId_ [protected]

Frame id of the polygon.

Definition at line 242 of file Polygon.hpp.

uint64_t grid_map::Polygon::timestamp_ [protected]

Timestamp of the polygon (nanoseconds).

Definition at line 245 of file Polygon.hpp.

std::vector<Position> grid_map::Polygon::vertices_ [protected]

Vertices of the polygon.

Definition at line 248 of file Polygon.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation