Program Listing for File polygon_utils.hpp

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/* Author: David V. Lu!! */

#pragma once

#include <geometry_msgs/msg/polygon_stamped.hpp>
#include <geometry_msgs/msg/polygon.hpp>
#include <geometry_msgs/msg/pose2_d.hpp>
#include <polygon_msgs/msg/point2_d.hpp>
#include <polygon_msgs/msg/polygon2_d.hpp>
#include <polygon_msgs/msg/polygon2_d_stamped.hpp>
#include <polygon_msgs/msg/complex_polygon2_d.hpp>
#include <vector>

namespace polygon_utils
{
// Polygon Conversions
geometry_msgs::msg::Polygon polygon2Dto3D(const polygon_msgs::msg::Polygon2D& polygon_2d);
polygon_msgs::msg::Polygon2D polygon3Dto2D(const geometry_msgs::msg::Polygon& polygon_3d);
geometry_msgs::msg::PolygonStamped polygon2Dto3D(const polygon_msgs::msg::Polygon2DStamped& polygon_2d);
polygon_msgs::msg::Polygon2DStamped polygon3Dto2D(const geometry_msgs::msg::PolygonStamped& polygon_3d);

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

bool equals(const polygon_msgs::msg::ComplexPolygon2D& polygon0, const polygon_msgs::msg::ComplexPolygon2D& polygon1);

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

polygon_msgs::msg::ComplexPolygon2D movePolygonToPose(const polygon_msgs::msg::ComplexPolygon2D& polygon,
                                                      const geometry_msgs::msg::Pose2D& pose);

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

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

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

}  // namespace polygon_utils