polygons.cpp File Reference

#include <nav_2d_utils/polygons.h>
#include <nav_2d_utils/geometry_help.h>
#include <mapbox/earcut.hpp>
#include <algorithm>
#include <limits>
#include <string>
#include <vector>

Include dependency graph for polygons.cpp:

Go to the source code of this file.

Classes
struct	mapbox::util::nth< 0, nav_2d_msgs::Point2D >
struct	mapbox::util::nth< 1, nav_2d_msgs::Point2D >

Namespaces
	mapbox
	mapbox::util
	nav_2d_utils
	A set of utility functions for Bounds objects interacting with other messages/types.

Functions
void	nav_2d_utils::calculateMinAndMaxDistances (const nav_2d_msgs::Polygon2D &polygon, double &min_dist, double &max_dist)
	Calculate the minimum and maximum distance from (0, 0) to any point on the polygon. More...
bool	nav_2d_utils::equals (const nav_2d_msgs::Polygon2D &polygon0, const nav_2d_msgs::Polygon2D &polygon1)
	check if two polygons are equal. Used in testing More...
double	nav_2d_utils::getNumberFromXMLRPC (XmlRpc::XmlRpcValue &value)
	Helper function. Convert value to double. More...
std::vector< double >	nav_2d_utils::getNumberVectorFromXMLRPC (XmlRpc::XmlRpcValue &value)
	Helper function. Convert value to double array. More...
bool	nav_2d_utils::isInside (const nav_2d_msgs::Polygon2D &polygon, const double x, const double y)
	Check if a given point is inside of a polygon. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::movePolygonToPose (const nav_2d_msgs::Polygon2D &polygon, const geometry_msgs::Pose2D &pose)
	Translate and rotate a polygon to a new pose. More...
std::vector< std::vector< double > >	nav_2d_utils::parseVVD (const std::string &input)
	Parse a vector of vectors of doubles from a string. Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::polygonFromParallelArrays (const std::vector< double > &xs, const std::vector< double > &ys)
	Create a polygon from two parallel arrays. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::polygonFromParams (const ros::NodeHandle &nh, const std::string parameter_name, bool search=true)
	Load a polygon from a parameter, whether it is a string or array, or two arrays. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::polygonFromRadius (const double radius, const unsigned int num_points=16)
	Create a "circular" polygon from a given radius. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::polygonFromString (const std::string &polygon_string)
	Make a polygon from the given string. Format should be bracketed array of arrays of doubles, like so: [[1.0, 2.2], [3.3, 4.2], ...]. More...
nav_2d_msgs::Polygon2D	nav_2d_utils::polygonFromXMLRPC (XmlRpc::XmlRpcValue &polygon_xmlrpc)
	Create a polygon from the given XmlRpcValue. More...
void	nav_2d_utils::polygonToParallelArrays (const nav_2d_msgs::Polygon2D polygon, std::vector< double > &xs, std::vector< double > &ys)
	Create two parallel arrays from a polygon. More...
void	nav_2d_utils::polygonToParams (const nav_2d_msgs::Polygon2D &polygon, const ros::NodeHandle &nh, const std::string parameter_name, bool array_of_arrays=true)
	Save a polygon to a parameter. More...
XmlRpc::XmlRpcValue	nav_2d_utils::polygonToXMLRPC (const nav_2d_msgs::Polygon2D &polygon, bool array_of_arrays=true)
	Create XMLRPC Value for writing the polygon to the parameter server. More...
std::vector< nav_2d_msgs::Point2D >	nav_2d_utils::triangulate (const nav_2d_msgs::ComplexPolygon2D &polygon)
	Decompose a complex polygon into a set of triangles. More...
std::vector< nav_2d_msgs::Point2D >	nav_2d_utils::triangulate (const nav_2d_msgs::Polygon2D &polygon)
	Decompose a simple polygon into a set of triangles. More...
XmlRpc::XmlRpcValue	nav_2d_utils::vectorToXMLRPC (const std::vector< double > &array)
	Helper method to convert a vector of doubles. More...