#include <Polygon.hpp>

Public Types
enum	TriangulationMethods { 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. More...

uint64_t	timestamp_
	Timestamp of the polygon (nanoseconds). More...

std::vector< Position >	vertices_
	Vertices of the polygon. More...

Detailed Description

Definition at line 21 of file Polygon.hpp.

Member Enumeration Documentation

enum grid_map::Polygon::TriangulationMethods

strong

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
	)

staticprotected

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
	)

staticprotected

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
	)

staticprotected

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