#include <SimPolygon2D.h>

Public Member Functions
bool	contains (const Point2 &p) const

bool	equals (const SimPolygon2D &p, double tol=1e-5) const

const Point2 &	landmark (size_t i) const

bool	overlaps (const SimPolygon2D &p) const

void	print (const std::string &s="") const

	SimPolygon2D ()

size_t	size () const

const Point2Vector &	vertices () const

std::vector< SimWall2D >	walls () const

Static Public Member Functions
static bool	anyContains (const Point2 &p, const std::vector< SimPolygon2D > &obstacles)

static bool	anyOverlaps (const SimPolygon2D &p, const std::vector< SimPolygon2D > &obstacles)

static SimPolygon2D	createRectangle (const Point2 &p, double height, double width)

static SimPolygon2D	createTriangle (const Point2 &pA, const Point2 &pB, const Point2 &pC)

static bool	insideBox (double s, const Point2 &p)

static bool	nearExisting (const Point2Vector &S, const Point2 &p, double threshold)

static Rot2	randomAngle ()

static Point2	randomBoundedPoint2 (const Point2 &LL_corner, const Point2 &UR_corner, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist)

static Point2	randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist)

static Point2	randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, double min_landmark_dist)

static Point2	randomBoundedPoint2 (double boundary_size, const std::vector< SimPolygon2D > &obstacles)

static double	randomDistance (double mu, double sigma, double min_dist=-1.0)

static Pose2	randomFreePose (double boundary_size, const std::vector< SimPolygon2D > &obstacles)

static Point2	randomPoint2 (double s)

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)

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)

static void	seedGenerator (unsigned long seed)

Protected Attributes
Point2Vector	landmarks_

Static Protected Attributes
static std::minstd_rand	rng

Detailed Description

General polygon class for convex polygons

Definition at line 20 of file SimPolygon2D.h.

Constructor & Destructor Documentation

◆ SimPolygon2D()

gtsam::SimPolygon2D::SimPolygon2D ( )

inline

Don't use this constructor, use a named one instead

Definition at line 28 of file SimPolygon2D.h.

Member Function Documentation

◆ anyContains()

bool gtsam::SimPolygon2D::anyContains	(	const Point2 &	p,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

returns true iff p is contained in any of a set of polygons

Definition at line 106 of file SimPolygon2D.cpp.

◆ anyOverlaps()

bool gtsam::SimPolygon2D::anyOverlaps	(	const SimPolygon2D &	p,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

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 ( const Point2 & p ) const

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	(	const Point2 &	p,
		double	height,
		double	width
	)

static

Named constructor for creating axis-aligned rectangles

Parameters

p	is the lower-left corner

Definition at line 33 of file SimPolygon2D.cpp.

◆ createTriangle()

SimPolygon2D gtsam::SimPolygon2D::createTriangle	(	const Point2 &	pA,
		const Point2 &	pB,
		const Point2 &	pC
	)

static

Named constructor for creating triangles

Definition at line 24 of file SimPolygon2D.cpp.

◆ equals()

bool gtsam::SimPolygon2D::equals	(	const SimPolygon2D &	p,
		double	tol = `1e-5`
	)		const

Definition at line 43 of file SimPolygon2D.cpp.

◆ insideBox()

bool gtsam::SimPolygon2D::insideBox	(	double	s,
		const Point2 &	p
	)

static

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 ( size_t i ) const

inline

Definition at line 59 of file SimPolygon2D.h.

◆ nearExisting()

bool gtsam::SimPolygon2D::nearExisting	(	const Point2Vector &	S,
		const Point2 &	p,
		double	threshold
	)

static

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 ( 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 ( const std::string & s = "" ) const

Definition at line 52 of file SimPolygon2D.cpp.

◆ randomAngle()

Rot2 gtsam::SimPolygon2D::randomAngle ( )

static

randomly generate a Rot2 with a uniform distribution over theta

Definition at line 230 of file SimPolygon2D.cpp.

◆ randomBoundedPoint2() [1/4]

Point2 gtsam::SimPolygon2D::randomBoundedPoint2	(	const Point2 &	LL_corner,
		const Point2 &	UR_corner,
		const Point2Vector &	landmarks,
		const std::vector< SimPolygon2D > &	obstacles,
		double	min_landmark_dist
	)

static

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	(	double	boundary_size,
		const Point2Vector &	landmarks,
		const std::vector< SimPolygon2D > &	obstacles,
		double	min_landmark_dist
	)

static

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	(	double	boundary_size,
		const Point2Vector &	landmarks,
		double	min_landmark_dist
	)

static

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	(	double	boundary_size,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

pick a random point that only avoid obstacles

Definition at line 252 of file SimPolygon2D.cpp.

◆ randomDistance()

double gtsam::SimPolygon2D::randomDistance	(	double	mu,
		double	sigma,
		double	min_dist = `-1.0`
	)

static

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	(	double	boundary_size,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

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 ( double s )

static

pick a random point uniformly over a box of side s

Definition at line 224 of file SimPolygon2D.cpp.

◆ randomRectangle()

SimPolygon2D gtsam::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
	)

static

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	(	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
	)

static

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 ( unsigned long seed )

static

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 ( ) const

inline

Definition at line 60 of file SimPolygon2D.h.

◆ vertices()

const Point2Vector& gtsam::SimPolygon2D::vertices ( ) const

inline

Definition at line 61 of file SimPolygon2D.h.

◆ walls()

vector< SimWall2D > gtsam::SimPolygon2D::walls ( ) const

Get a set of walls along the edges

Definition at line 59 of file SimPolygon2D.cpp.

Member Data Documentation

◆ landmarks_

Point2Vector gtsam::SimPolygon2D::landmarks_

protected

Definition at line 22 of file SimPolygon2D.h.

◆ rng

std::minstd_rand gtsam::SimPolygon2D::rng

staticprotected

Definition at line 23 of file SimPolygon2D.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SimPolygon2D()

Member Function Documentation

◆ anyContains()

◆ anyOverlaps()

◆ contains()

◆ createRectangle()

◆ createTriangle()

◆ equals()

◆ insideBox()

◆ landmark()

◆ nearExisting()

◆ overlaps()

◆ print()

◆ randomAngle()

◆ randomBoundedPoint2() [1/4]

◆ randomBoundedPoint2() [2/4]

◆ randomBoundedPoint2() [3/4]

◆ randomBoundedPoint2() [4/4]

◆ randomDistance()

◆ randomFreePose()

◆ randomPoint2()

◆ randomRectangle()

◆ randomTriangle()

◆ seedGenerator()

◆ size()

◆ vertices()

◆ walls()

Member Data Documentation

◆ landmarks_

◆ rng