Class TPolygon2D

Inheritance Relationships

Base Type

  • public std::vector< TPoint2D >

Derived Type

Class Documentation

class TPolygon2D : public std::vector<TPoint2D>

2D polygon, inheriting from std::vector<TPoint2D>.

See also

TPolygon3D,TSegment2D,TLine2D,TPoint2D, CPolygon

Subclassed by mrpt::math::CPolygon

Public Functions

inline TPolygon2D()

Default constructor

inline explicit TPolygon2D(size_t N)

Constructor for a given number of vertices (uninitialized)

inline TPolygon2D(const std::vector<TPoint2D> &v)

Implicit constructor from a vector of 2D points

inline TPolygon2D(const std::initializer_list<TPoint2D> &&vertices)

Constructor from list of vertices data, for example: 

const mrpt::math::TPolygon2D p = {
 {-6.0, 0.5}, {8.0, 2.0}, {10.0, 4.0}
 };

explicit TPolygon2D(const TPolygon3D &p)

Constructor from a 3D object.

double distance(const TPoint2D &point) const

Distance to a point (always >=0)

bool contains(const TPoint2D &point) const

Check whether a point is inside (or within geometryEpsilon of a polygon edge). This works for concave or convex polygons.

void getAsSegmentList(std::vector<TSegment2D> &v) const

Gets as set of segments, instead of points.

void generate3DObject(TPolygon3D &p) const

Projects into 3D space, zeroing the z.

void getCenter(TPoint2D &p) const

Polygon’s central point.

bool isConvex() const

Checks whether is convex.

void removeRepeatedVertices()

Erase repeated vertices.

See also

removeRedundantVertices

void removeRedundantVertices()

Erase every redundant vertex from the polygon, saving space.

See also

removeRepeatedVertices

void getPlotData(std::vector<double> &x, std::vector<double> &y) const

Gets plot data, ready to use on a 2D plot.

See also

mrpt::gui::CDisplayWindowPlots

inline std::tuple<std::vector<double>, std::vector<double>> getPlotData() const
mrpt::containers::yaml asYAML() const

Returns a YAML representation of the polygon as a sequence (vertices) of sequences ([x y] coordinates).

See also

FromYAML

Note

User must include #include <mrpt/containers/yaml.h> if using this method, only a forward declaration is defined here to speed up compilation

Note

(New in MRPT 2.4.1)

void getBoundingBox(TPoint2D &min_coords, TPoint2D &max_coords) const

Get polygon bounding box.

Throws:

On – empty polygon

Public Static Functions

static TPolygon2D FromYAML(const mrpt::containers::yaml &c)

Builds a polygon from a YAML sequence (vertices) of sequences ([x y] coordinates).

See also

asYAML

Note

User must include #include <mrpt/containers/yaml.h> if using this method, only a forward declaration is defined here to speed up compilation

Note

(New in MRPT 2.4.1)

static void createRegularPolygon(size_t numEdges, double radius, TPolygon2D &poly)

Static method to create a regular polygon, given its size and radius.

Throws:

std::logic_error – if radius is near zero or the number of edges is less than three.

static void createRegularPolygon(size_t numEdges, double radius, TPolygon2D &poly, const mrpt::math::TPose2D &pose)

Static method to create a regular polygon from its size and radius. The center will correspond to the given pose.

Throws:

std::logic_error – if radius is near zero or the number of edges is less than three.