mrpt::math::CPolygon Class Reference

A simple 2D polygon class, mainly for checking points falling inside it. More...

#include <mrpt/math/CPolygon.h>

Inheritance diagram for mrpt::math::CPolygon:

List of all members.

Public Member Functions
	CPolygon (double cx=0, double cy=0)
	Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored.
void	AddVertex (double x, double y)
	Add a new vertex to polygon:.
double	GetVertex_x (size_t i) const
	Methods for accessing the vertexs:.
double	GetVertex_y (size_t i) const
size_t	verticesCount ()
	Returns the vertices count in the polygon:.
void	setAllVertices (const std::vector< double > &x, const std::vector< double > &y)
	Set all vertices at once.
void	setAllVertices (size_t nVertices, const double *xs, const double *ys)
	Set all vertices at once, not to be used normally.
void	setAllVertices (size_t nVertices, const float *xs, const float *ys)
	Set all vertices at once, not to be used normally.
void	Clear ()
	Clear the polygon, erasing all vertexs.
bool	PointIntoPolygon (double x, double y) const
	Check if a point is inside the polygon:.
double	ComputeTangentAngNearPoint (double x, double y, double view_phi, double min_dist)
	Computed the angle between the viewing angle and the closest edge in the polygon to the given point.
Private Member Functions
bool	isLeft (double P0x, double P0y, double P1x, double P1y, double Px, double Py) const
Private Attributes
std::vector< double >	vx
	The placeholders for vertexs.
std::vector< double >	vy
double	cx
	The "central" point coordinates (laser sensor location if applicable).
double	cy
double	min_x
	Automatically maintained max/min coordinates of polygon.
double	max_x
double	min_y
double	max_y

---

Detailed Description

A simple 2D polygon class, mainly for checking points falling inside it.

Definition at line 43 of file CPolygon.h.

---

Constructor & Destructor Documentation

mrpt::math::CPolygon::CPolygon	(	double	cx = 0,
		double	cy = 0
	)

Constructor cx and cy are the "central" point coordinates (laser sensor location if applicable) This parameters are NOT used in PointIntoPolygon, so they can be ignored.

See also:

PointIntoPolygon

---

Member Function Documentation

void mrpt::math::CPolygon::AddVertex	(	double	x,
		double	y
	)

Add a new vertex to polygon:.

void mrpt::math::CPolygon::Clear

(

)

[inline]

Clear the polygon, erasing all vertexs.

Definition at line 101 of file CPolygon.h.

double mrpt::math::CPolygon::ComputeTangentAngNearPoint	(	double	x,
		double	y,
		double	view_phi,
		double	min_dist
	)

Computed the angle between the viewing angle and the closest edge in the polygon to the given point.

double mrpt::math::CPolygon::GetVertex_x

(

size_t

i

)

const [inline]

Methods for accessing the vertexs:.

See also:

verticesCount

Definition at line 80 of file CPolygon.h.

References ASSERT_.

double mrpt::math::CPolygon::GetVertex_y

(

size_t

i

)

const [inline]

Definition at line 81 of file CPolygon.h.

References ASSERT_.

bool mrpt::math::CPolygon::isLeft	(	double	P0x,
		double	P0y,
		double	P1x,
		double	P1y,
		double	Px,
		double	Py
	)			const [private]

bool mrpt::math::CPolygon::PointIntoPolygon	(	double	x,
		double	y
	)			const

Check if a point is inside the polygon:.

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const float *	xs,
		const float *	ys
	)

Set all vertices at once, not to be used normally.

void mrpt::math::CPolygon::setAllVertices	(	size_t	nVertices,
		const double *	xs,
		const double *	ys
	)

Set all vertices at once, not to be used normally.

void mrpt::math::CPolygon::setAllVertices	(	const std::vector< double > &	x,
		const std::vector< double > &	y
	)

Set all vertices at once.

size_t mrpt::math::CPolygon::verticesCount

(

)

[inline]

Returns the vertices count in the polygon:.

Definition at line 85 of file CPolygon.h.

---

Member Data Documentation

double mrpt::math::CPolygon::cx [private]

The "central" point coordinates (laser sensor location if applicable).

Definition at line 55 of file CPolygon.h.

double mrpt::math::CPolygon::cy [private]

Definition at line 55 of file CPolygon.h.

double mrpt::math::CPolygon::max_x [private]

Definition at line 59 of file CPolygon.h.

double mrpt::math::CPolygon::max_y [private]

Definition at line 59 of file CPolygon.h.

double mrpt::math::CPolygon::min_x [private]

Automatically maintained max/min coordinates of polygon.

Definition at line 59 of file CPolygon.h.

double mrpt::math::CPolygon::min_y [private]

Definition at line 59 of file CPolygon.h.

std::vector<double> mrpt::math::CPolygon::vx [private]

The placeholders for vertexs.

Definition at line 51 of file CPolygon.h.

std::vector<double> mrpt::math::CPolygon::vy [private]

Definition at line 51 of file CPolygon.h.