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mrpt::math::TPolygon3D Class Reference

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

#include <mrpt/math/lightweight_geom_data.h>

Inherits std::vector<TPoint3D>.

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.


Detailed Description

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

See also:
TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D

Definition at line 933 of file lightweight_geom_data.h.


Constructor & Destructor Documentation

mrpt::math::TPolygon3D::TPolygon3D (  )  [inline]

Default constructor.

Creates a polygon with no vertices.

Definition at line 983 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 987 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 991 of file lightweight_geom_data.h.

mrpt::math::TPolygon3D::TPolygon3D ( const TPolygon2D p  ) 

Constructor from a 2D object.

Zeroes the z.


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,
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.

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.

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 960 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.




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