Class TPolygon3D

Inheritance Relationships

Base Type

  • public std::vector< TPoint3D >

Class Documentation

class TPolygon3D : public std::vector<TPoint3D>

3D polygon, inheriting from std::vector<TPoint3D>

See also

TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Public Functions

inline TPolygon3D()

Default constructor. Creates a polygon with no vertices.

inline explicit TPolygon3D(size_t N)

Constructor for a given size. Creates a polygon with a fixed number of vertices (uninitialized)

inline TPolygon3D(const std::vector<TPoint3D> &v)

Implicit constructor from a 3D points vector.

explicit TPolygon3D(const TPolygon2D &p)

Constructor from a 2D object. Zeroes the z.

inline TPolygon3D(const std::initializer_list<TPoint3D> &&vertices)

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

Throws:

std::logic_error – if number of edges is less than three, or radius is near zero. Constructor from list of vertices data, for example: 

const mrpt::math::TPolygon3D p = {
 {-6.0, 0.5, 0.0}, {8.0, 2.0, 1.0}, {10.0, 4.0, 2.0}
 };

mrpt::containers::yaml asYAML() const

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

double distance(const TPoint3D &point) const

Absolute distance to point

bool contains(const TPoint3D &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<TSegment3D> &v) const

Gets as set of segments, instead of set of points.

bool getPlane(TPlane &p) const

Gets a plane which contains the polygon. Returns false if the polygon is skew and cannot be fit inside a plane.

void getBestFittingPlane(TPlane &p) const

Gets the best fitting plane, disregarding whether the polygon actually fits inside or not.

See also

getBestFittingPlane

void generate2DObject(TPolygon2D &p) const

Projects into a 2D space, discarding the z.

See also

getPlane,isSkew

void getCenter(TPoint3D &p) const

Get polygon’s central point.

bool isSkew() const

Check whether the polygon is skew. Returns true if there doesn’t exist a plane in which the polygon can fit.

See also

getBestFittingPlane

void removeRepeatedVertices()

Remove polygon’s repeated vertices.

void removeRedundantVertices()

Erase every redundant vertex, thus saving space.

Public Static Functions

static TPolygon3D FromYAML(const mrpt::containers::yaml &c)

Builds a polygon from a YAML sequence (vertices) of sequences ([x y z] 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, TPolygon3D &poly)
static void createRegularPolygon(size_t numEdges, double radius, TPolygon3D &poly, const mrpt::math::TPose3D &pose)

Static method to create a regular polygon, given its size and radius. The center will be located on the given pose.

Throws:

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