#include <SimPolygon2D.h>
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static bool | anyContains (const Point2 &p, const std::vector< SimPolygon2D > &obstacles) |
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static bool | anyOverlaps (const SimPolygon2D &p, const std::vector< SimPolygon2D > &obstacles) |
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static SimPolygon2D | createRectangle (const Point2 &p, double height, double width) |
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static SimPolygon2D | createTriangle (const Point2 &pA, const Point2 &pB, const Point2 &pC) |
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static bool | insideBox (double s, const Point2 &p) |
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static bool | nearExisting (const Point2Vector &S, const Point2 &p, double threshold) |
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static Rot2 | randomAngle () |
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static Point2 | randomBoundedPoint2 (const Point2 &LL_corner, const Point2 &UR_corner, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist) |
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static Point2 | randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist) |
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static Point2 | randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, double min_landmark_dist) |
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static Point2 | randomBoundedPoint2 (double boundary_size, const std::vector< SimPolygon2D > &obstacles) |
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static double | randomDistance (double mu, double sigma, double min_dist=-1.0) |
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static Pose2 | randomFreePose (double boundary_size, const std::vector< SimPolygon2D > &obstacles) |
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static Point2 | randomPoint2 (double s) |
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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) |
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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) |
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static void | seedGenerator (unsigned long seed) |
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static std::minstd_rand | rng |
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General polygon class for convex polygons
Definition at line 20 of file SimPolygon2D.h.
◆ SimPolygon2D()
gtsam::SimPolygon2D::SimPolygon2D |
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Don't use this constructor, use a named one instead
Definition at line 28 of file SimPolygon2D.h.
◆ anyContains()
bool gtsam::SimPolygon2D::anyContains |
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const Point2 & |
p, |
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const std::vector< SimPolygon2D > & |
obstacles |
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returns true iff p is contained in any of a set of polygons
Definition at line 106 of file SimPolygon2D.cpp.
◆ anyOverlaps()
returns true iff polygon p overlaps with any of a set of polygons
Definition at line 114 of file SimPolygon2D.cpp.
◆ contains()
bool gtsam::SimPolygon2D::contains |
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const Point2 & |
p | ) |
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Core function for randomly generating scenarios. Polygons are closed, convex shapes.
- Returns
- true if the given point is contained by this polygon
Definition at line 68 of file SimPolygon2D.cpp.
◆ createRectangle()
SimPolygon2D gtsam::SimPolygon2D::createRectangle |
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const Point2 & |
p, |
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double |
height, |
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double |
width |
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Named constructor for creating axis-aligned rectangles
- Parameters
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p | is the lower-left corner |
Definition at line 33 of file SimPolygon2D.cpp.
◆ createTriangle()
◆ equals()
bool gtsam::SimPolygon2D::equals |
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const SimPolygon2D & |
p, |
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double |
tol = 1e-5 |
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◆ insideBox()
bool gtsam::SimPolygon2D::insideBox |
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double |
s, |
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const Point2 & |
p |
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returns true iff p is inside a square centered at zero with side s
Definition at line 312 of file SimPolygon2D.cpp.
◆ landmark()
const Point2& gtsam::SimPolygon2D::landmark |
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size_t |
i | ) |
const |
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◆ nearExisting()
bool gtsam::SimPolygon2D::nearExisting |
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const Point2Vector & |
S, |
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const Point2 & |
p, |
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double |
threshold |
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returns true iff p is within threshold of any point in S
Definition at line 317 of file SimPolygon2D.cpp.
◆ overlaps()
bool gtsam::SimPolygon2D::overlaps |
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const SimPolygon2D & |
p | ) |
const |
Checks two polygons to determine if they overlap
- Returns
- true iff at least one vertex of one polygon is contained in the other
Definition at line 95 of file SimPolygon2D.cpp.
◆ print()
void gtsam::SimPolygon2D::print |
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const std::string & |
s = "" | ) |
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◆ randomAngle()
Rot2 gtsam::SimPolygon2D::randomAngle |
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◆ randomBoundedPoint2() [1/4]
pick a random point in box defined by lower left and upper right corners
Definition at line 289 of file SimPolygon2D.cpp.
◆ randomBoundedPoint2() [2/4]
Point2 gtsam::SimPolygon2D::randomBoundedPoint2 |
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double |
boundary_size, |
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const Point2Vector & |
landmarks, |
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const std::vector< SimPolygon2D > & |
obstacles, |
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double |
min_landmark_dist |
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pick a random point within a box that meets above requirements, as well as staying out of obstacles
Definition at line 276 of file SimPolygon2D.cpp.
◆ randomBoundedPoint2() [3/4]
Point2 gtsam::SimPolygon2D::randomBoundedPoint2 |
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double |
boundary_size, |
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const Point2Vector & |
landmarks, |
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double |
min_landmark_dist |
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pick a random point within a box that is further than dist d away from existing landmarks
Definition at line 264 of file SimPolygon2D.cpp.
◆ randomBoundedPoint2() [4/4]
Point2 gtsam::SimPolygon2D::randomBoundedPoint2 |
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double |
boundary_size, |
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const std::vector< SimPolygon2D > & |
obstacles |
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◆ randomDistance()
double gtsam::SimPolygon2D::randomDistance |
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double |
mu, |
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double |
sigma, |
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double |
min_dist = -1.0 |
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generate a distance from a normal distribution given a mean and sigma
Definition at line 237 of file SimPolygon2D.cpp.
◆ randomFreePose()
Pose2 gtsam::SimPolygon2D::randomFreePose |
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double |
boundary_size, |
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const std::vector< SimPolygon2D > & |
obstacles |
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pick a random pose in a bounded area that is not in an obstacle
Definition at line 307 of file SimPolygon2D.cpp.
◆ randomPoint2()
Point2 gtsam::SimPolygon2D::randomPoint2 |
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double |
s | ) |
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pick a random point uniformly over a box of side s
Definition at line 224 of file SimPolygon2D.cpp.
◆ randomRectangle()
SimPolygon2D gtsam::SimPolygon2D::randomRectangle |
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double |
side_len, |
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double |
mean_side_len, |
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double |
sigma_side_len, |
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double |
min_vertex_dist, |
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double |
min_side_len, |
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const std::vector< SimPolygon2D > & |
existing_polys |
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Randomly generate a rectangle that does not conflict with others Uniformly distributed over box area, with normally distributed lengths of edges THROWS: std::runtime_error if can't find a position
Definition at line 177 of file SimPolygon2D.cpp.
◆ randomTriangle()
SimPolygon2D gtsam::SimPolygon2D::randomTriangle |
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double |
side_len, |
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double |
mean_side_len, |
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double |
sigma_side_len, |
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double |
min_vertex_dist, |
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double |
min_side_len, |
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const std::vector< SimPolygon2D > & |
existing_polys |
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Randomly generate a triangle that does not conflict with others Uniformly distributed over box area, with normally distributed lengths of edges THROWS: std::runtime_error if can't find a position
Definition at line 122 of file SimPolygon2D.cpp.
◆ seedGenerator()
void gtsam::SimPolygon2D::seedGenerator |
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unsigned long |
seed | ) |
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seed the random number generator - only needs to be done once
Definition at line 19 of file SimPolygon2D.cpp.
◆ size()
size_t gtsam::SimPolygon2D::size |
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const |
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◆ vertices()
◆ walls()
vector< SimWall2D > gtsam::SimPolygon2D::walls |
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const |
◆ landmarks_
◆ rng
std::minstd_rand gtsam::SimPolygon2D::rng |
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staticprotected |
The documentation for this class was generated from the following files: