polygons.h

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#ifndef NAV_2D_UTILS_POLYGONS_H
#define NAV_2D_UTILS_POLYGONS_H

#include <ros/ros.h>
#include <nav_2d_msgs/Polygon2D.h>
#include <nav_2d_msgs/ComplexPolygon2D.h>
#include <geometry_msgs/Pose2D.h>
#include <vector>
#include <string>

namespace nav_2d_utils
{

class PolygonParseException: public std::runtime_error
{
public:
  explicit PolygonParseException(const std::string& description) : std::runtime_error(description) {}
};

std::vector<std::vector<double> > parseVVD(const std::string& input);

nav_2d_msgs::Polygon2D polygonFromRadius(const double radius, const unsigned int num_points = 16);

nav_2d_msgs::Polygon2D polygonFromString(const std::string& polygon_string);

nav_2d_msgs::Polygon2D polygonFromParams(const ros::NodeHandle& nh, const std::string parameter_name,
                                         bool search = true);

nav_2d_msgs::Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc);

XmlRpc::XmlRpcValue polygonToXMLRPC(const nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true);

void polygonToParams(const nav_2d_msgs::Polygon2D& polygon, const ros::NodeHandle& nh, const std::string parameter_name,
                     bool array_of_arrays = true);

nav_2d_msgs::Polygon2D polygonFromParallelArrays(const std::vector<double>& xs, const std::vector<double>& ys);

void polygonToParallelArrays(const nav_2d_msgs::Polygon2D polygon, std::vector<double>& xs, std::vector<double>& ys);

bool equals(const nav_2d_msgs::Polygon2D& polygon0, const nav_2d_msgs::Polygon2D& polygon1);

nav_2d_msgs::Polygon2D movePolygonToPose(const nav_2d_msgs::Polygon2D& polygon,
                                         const geometry_msgs::Pose2D& pose);

bool isInside(const nav_2d_msgs::Polygon2D& polygon, const double x, const double y);

void calculateMinAndMaxDistances(const nav_2d_msgs::Polygon2D& polygon, double& min_dist, double& max_dist);

std::vector<nav_2d_msgs::Point2D> triangulate(const nav_2d_msgs::ComplexPolygon2D& polygon);

std::vector<nav_2d_msgs::Point2D> triangulate(const nav_2d_msgs::Polygon2D& polygon);

}  // namespace nav_2d_utils

#endif  // NAV_2D_UTILS_POLYGONS_H