mrpt::math::TPolygon3D Class Reference

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Detailed Description

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

See also:

TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 1142 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPolygon3D:

List of all members.

Public Member Functions
double	distance (const TPoint3D &point) const
	Distance to point.
bool	contains (const TPoint3D &point) const
	Check whether a point is inside the polygon.
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.
void	getBestFittingPlane (TPlane &p) const
	Gets the best fitting plane, disregarding whether the polygon actually fits inside or not.
void	generate2DObject (TPolygon2D &p) const
	Projects into a 2D space, discarding the z.
void	getCenter (TPoint3D &p) const
	Get polygon's central point.
bool	isSkew () const
	Check whether the polygon is skew.
void	removeRepeatedVertices ()
	Remove polygon's repeated vertices.
void	removeRedundantVertices ()
	Erase every redundant vertex, thus saving space.
	TPolygon3D ()
	Default constructor.
	TPolygon3D (size_t N)
	Constructor for a given size.
	TPolygon3D (const std::vector< TPoint3D > &v)
	Implicit constructor from a 3D points vector.
	TPolygon3D (const TPolygon2D &p)
	Constructor from a 2D object.
Static Public Member Functions
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon3D &poly)
	Static method to create a regular polygon, given its size and radius.
static void	createRegularPolygon (size_t numEdges, double radius, TPolygon3D &poly, const mrpt::poses::CPose3D &pose)
	Static method to create a regular polygon, given its size and radius.

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Constructor & Destructor Documentation

mrpt::math::TPolygon3D::TPolygon3D

(

)

[inline]

Default constructor.

Creates a polygon with no vertices.

Definition at line 1192 of file lightweight_geom_data.h.

mrpt::math::TPolygon3D::TPolygon3D

(

size_t

N )

[inline, explicit]

Constructor for a given size.

Creates a polygon with a fixed number of vertices, which are initialized to garbage.

Definition at line 1196 of file lightweight_geom_data.h.

mrpt::math::TPolygon3D::TPolygon3D

(

const std::vector< TPoint3D > &

v )

[inline]

Implicit constructor from a 3D points vector.

Definition at line 1200 of file lightweight_geom_data.h.

mrpt::math::TPolygon3D::TPolygon3D

(

const TPolygon2D &

p )

Constructor from a 2D object.

Zeroes the z.

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Member Function Documentation

bool mrpt::math::TPolygon3D::contains

(

const TPoint3D &

point )

const

Check whether a point is inside the polygon.

static void mrpt::math::TPolygon3D::createRegularPolygon	(	size_t	numEdges,
		double	radius,
		TPolygon3D &	poly
	)		[static]

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

Exceptions:

std::logic_error

if number of edges is less than three, or radius is near zero.

static void mrpt::math::TPolygon3D::createRegularPolygon	(	size_t	numEdges,
		double	radius,
		TPolygon3D &	poly,
		const mrpt::poses::CPose3D &	pose
	)		[inline, static]

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

The center will be located on the given pose.

Exceptions:

std::logic_error

if number of edges is less than three, or radius is near zero.

double mrpt::math::TPolygon3D::distance

(

const TPoint3D &

point )

const

Distance to point.

void mrpt::math::TPolygon3D::generate2DObject

(

TPolygon2D &

p )

const [inline]

Projects into a 2D space, discarding the z.

getPlane,isSkew

Definition at line 1169 of file lightweight_geom_data.h.

void mrpt::math::TPolygon3D::getAsSegmentList

(

std::vector< TSegment3D > &

v )

const

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

void mrpt::math::TPolygon3D::getBestFittingPlane

(

TPlane &

p )

const

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

See also:

getBestFittingPlane

void mrpt::math::TPolygon3D::getCenter

(

TPoint3D &

p )

const

Get polygon's central point.

bool mrpt::math::TPolygon3D::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.

bool mrpt::math::TPolygon3D::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 mrpt::math::TPolygon3D::removeRedundantVertices

(

)

Erase every redundant vertex, thus saving space.

void mrpt::math::TPolygon3D::removeRepeatedVertices

(

)

Remove polygon's repeated vertices.