#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 (size_t index) const

const std::vector< Position > &	getVertices () const

bool	isInside (const Position &point) const

size_t	nVertices () const

bool	offsetInward (double margin)

const Position &	operator[] (size_t index) const

	Polygon ()

	Polygon (std::vector< Position > vertices)

void	removeVertices ()

void	resetTimestamp ()

void	setFrameId (const std::string &frameId)

void	setTimestamp (uint64_t timestamp)

bool	thickenLine (double thickness)

std::vector< Polygon >	triangulate (const TriangulationMethods &method=TriangulationMethods::FAN) const

Static Public Member Functions
static Polygon	convexHull (Polygon &polygon1, Polygon &polygon2)

static Polygon	convexHullOfTwoCircles (Position center1, Position center2, double radius, int nVertices=20)

static Polygon	fromCircle (Position center, double radius, 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

◆ TriangulationMethods

enum grid_map::Polygon::TriangulationMethods

strong

Enumerator
FAN

Definition at line 25 of file Polygon.hpp.

Constructor & Destructor Documentation

◆ Polygon() [1/2]

grid_map::Polygon::Polygon ( )

Default constructor.

Definition at line 19 of file Polygon.cpp.

◆ Polygon() [2/2]

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.

Member Function Documentation

◆ addVertex()

void grid_map::Polygon::addVertex ( const Position & vertex )

Add a vertex to the polygon

Parameters

vertex the point to be added.

Definition at line 44 of file Polygon.cpp.

◆ computeCrossProduct2D()

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 339 of file Polygon.cpp.

◆ convertToInequalityConstraints()

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 146 of file Polygon.cpp.

◆ convexHull()

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 287 of file Polygon.cpp.

◆ convexHullOfTwoCircles()

Polygon grid_map::Polygon::convexHullOfTwoCircles	(	Position	center1,
		Position	center2,
		double	radius,
		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 261 of file Polygon.cpp.

◆ fromCircle()

Polygon grid_map::Polygon::fromCircle	(	Position	center,
		double	radius,
		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 246 of file Polygon.cpp.

◆ getArea()

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 99 of file Polygon.cpp.

◆ getBoundingBox()

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 128 of file Polygon.cpp.

◆ getCentroid()

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 111 of file Polygon.cpp.

◆ getFrameId()

const std::string & grid_map::Polygon::getFrameId ( ) const

Get the frameId of the polygon.

Returns: frameId.

Definition at line 74 of file Polygon.cpp.

◆ getTimestamp()

uint64_t grid_map::Polygon::getTimestamp ( ) const

Get the timestamp of the polygon.

Returns: timestamp in nanoseconds.

Definition at line 84 of file Polygon.cpp.

◆ getVertex()

const Position & grid_map::Polygon::getVertex ( size_t index ) const

Get the vertex with index.

Parameters

index the index of the requested vertex.

Returns: the requested vertex.

Definition at line 49 of file Polygon.cpp.

◆ getVertices()

const std::vector< Position > & grid_map::Polygon::getVertices ( ) const

Returns the vertices of the polygon.

Returns: the vertices of the polygon.

Definition at line 64 of file Polygon.cpp.

◆ isInside()

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 30 of file Polygon.cpp.

◆ monotoneChainConvexHullOfPoints()

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 297 of file Polygon.cpp.

◆ nVertices()

size_t grid_map::Polygon::nVertices ( ) const

Returns the number of vertices.

Returns: the number of vertices.

Definition at line 69 of file Polygon.cpp.

◆ offsetInward()

bool grid_map::Polygon::offsetInward ( 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 197 of file Polygon.cpp.

◆ operator[]()

const Position & grid_map::Polygon::operator[] ( size_t index ) const

Get vertex operator overload.

Parameters

index the index of the requested vertex.

Returns: the requested vertex.

Definition at line 59 of file Polygon.cpp.

◆ removeVertices()

void grid_map::Polygon::removeVertices ( )

Removes all vertices from the polygon.

Definition at line 54 of file Polygon.cpp.

◆ resetTimestamp()

void grid_map::Polygon::resetTimestamp ( )

Resets the timestamp of the polygon (to zero).

Definition at line 94 of file Polygon.cpp.

◆ setFrameId()

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 79 of file Polygon.cpp.

◆ setTimestamp()

void grid_map::Polygon::setTimestamp ( uint64_t timestamp )

Set the timestamp of the polygon.

Parameters

timestamp the timestamp to set (in nanoseconds).

Definition at line 89 of file Polygon.cpp.

◆ sortVertices()

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 332 of file Polygon.cpp.

◆ thickenLine()

bool grid_map::Polygon::thickenLine ( double thickness )

If only two vertices 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 182 of file Polygon.cpp.

◆ triangulate()

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 221 of file Polygon.cpp.

◆ vectorsMakeClockwiseTurn()

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 345 of file Polygon.cpp.

Member Data Documentation

◆ frameId_

std::string grid_map::Polygon::frameId_

protected

Frame id of the polygon.

Definition at line 237 of file Polygon.hpp.

◆ timestamp_

uint64_t grid_map::Polygon::timestamp_

protected

Timestamp of the polygon (nanoseconds).

Definition at line 240 of file Polygon.hpp.

◆ vertices_

std::vector<Position> grid_map::Polygon::vertices_

protected

Vertices of the polygon.

Definition at line 243 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

◆ TriangulationMethods

Constructor & Destructor Documentation

◆ Polygon() [1/2]

◆ Polygon() [2/2]

Member Function Documentation

◆ addVertex()

◆ computeCrossProduct2D()

◆ convertToInequalityConstraints()

◆ convexHull()

◆ convexHullOfTwoCircles()

◆ fromCircle()

◆ getArea()

◆ getBoundingBox()

◆ getCentroid()

◆ getFrameId()

◆ getTimestamp()

◆ getVertex()

◆ getVertices()

◆ isInside()

◆ monotoneChainConvexHullOfPoints()

◆ nVertices()

◆ offsetInward()

◆ operator[]()

◆ removeVertices()

◆ resetTimestamp()

◆ setFrameId()

◆ setTimestamp()

◆ sortVertices()

◆ thickenLine()

◆ triangulate()

◆ vectorsMakeClockwiseTurn()

Member Data Documentation

◆ frameId_

◆ timestamp_

◆ vertices_