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<div class="title">CPolygon.h</div> </div>
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<a href="_c_polygon_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPOLYGON_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPOLYGON_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>math
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00040"></a><a class="code" href="structmrpt_1_1math_1_1_c_polygon_ptr.html#a5f525874d10767703a55e67e6594075d">00040</a> <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">CPolygon</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a> )
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** A wrapper of a TPolygon2D class, implementing CSerializable.</span>
<a name="l00043"></a>00043 <span class="comment"> * \ingroup geometry_grp</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">CPolygon</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>, public mrpt::math::<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector<TPoint2D>.">TPolygon2D</a>
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00048"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#ae78affd8c9b15e0f0a13c635742f4283">00048</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">CPolygon</a> )
<a name="l00049"></a>00049
<a name="l00050"></a>00050 public:<span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /** Constructor</span>
<a name="l00052"></a>00052 <span class="comment"> * cx and cy are the "central" point coordinates (laser sensor location if applicable)</span>
<a name="l00053"></a>00053 <span class="comment"> * This parameters are NOT used in PointIntoPolygon, so they can be ignored.</span>
<a name="l00054"></a>00054 <span class="comment"> * \sa PointIntoPolygon</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a40d2955f3b74bce0a13c3e5c5fd3c268">00056</a> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">CPolygon</a>() : TPolygon2D()
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Add a new vertex to polygon: */</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#ada12326fdb02c41eb69b941d7b828e5e">00061</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#ada12326fdb02c41eb69b941d7b828e5e" title="Add a new vertex to polygon:">AddVertex</a>(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>) {
<a name="l00062"></a>00062 <a class="code" href="eigen__plugins_8h.html#a9d57842d20d6813ae39cc88859d6f3c8" title="Insert an element at the end of the container (for 1D vectors/arrays)">TPolygon2D::push_back</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(x,y));
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Methods for accessing the vertexs:</span>
<a name="l00066"></a>00066 <span class="comment"> * \sa verticesCount</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a7d7f34f782e1e75425aed79c1e467e65">00068</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a7d7f34f782e1e75425aed79c1e467e65" title="Methods for accessing the vertexs:">GetVertex_x</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">TPolygon2D::size</a>()); <span class="keywordflow">return</span> TPolygon2D::operator [](i).x; }
<a name="l00069"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a72a00e12bececf482a993ab8c3812e07">00069</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a72a00e12bececf482a993ab8c3812e07">GetVertex_y</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">TPolygon2D::size</a>()); <span class="keywordflow">return</span> TPolygon2D::operator [](i).y; }
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Returns the vertices count in the polygon: */</span>
<a name="l00072"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#afe11c011c1a07e4c176ef1870389fe42">00072</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#afe11c011c1a07e4c176ef1870389fe42" title="Returns the vertices count in the polygon:">verticesCount</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">TPolygon2D::size</a>(); }
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Set all vertices at once. */</span>
<a name="l00075"></a>00075 <span class="keywordtype">void</span> setAllVertices( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &x, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );<span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Set all vertices at once. Please use the std::vector version whenever possible unless efficiency is really an issue */</span>
<a name="l00077"></a>00077 <span class="keywordtype">void</span> setAllVertices( <span class="keywordtype">size_t</span> nVertices, <span class="keyword">const</span> <span class="keywordtype">double</span> *xs, <span class="keyword">const</span> <span class="keywordtype">double</span> *ys );<span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Set all vertices at once. Please use the std::vector version whenever possible unless efficiency is really an issue */</span>
<a name="l00079"></a>00079 <span class="keywordtype">void</span> setAllVertices( <span class="keywordtype">size_t</span> nVertices, <span class="keyword">const</span> <span class="keywordtype">float</span> *xs, <span class="keyword">const</span> <span class="keywordtype">float</span> *ys );
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Get all vertices at once. */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> getAllVertices( <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &x, <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> ) <span class="keyword">const</span>;
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Clear the polygon, erasing all vertexs. */</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#ac01d53b0430a1503240b18d13b50b6f0">00085</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#ac01d53b0430a1503240b18d13b50b6f0" title="Clear the polygon, erasing all vertexs.">Clear</a>() { TPolygon2D::clear(); }
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Check if a point is inside the polygon:</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a8e92c51def9ce98ef9f4af820b711ed0">00089</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html#a8e92c51def9ce98ef9f4af820b711ed0" title="Check if a point is inside the polygon:">PointIntoPolygon</a>(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>)<span class="keyword"> const </span>{
<a name="l00090"></a>00090 <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#ada1b31f2364540c43bc6dbb5dfeea99a" title="Check whether a point is inside the polygon.">TPolygon2D::contains</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(x,y));
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00093"></a>00093 };
<a name="l00094"></a>00094
<a name="l00095"></a>00095 } <span class="comment">// End of namespace</span>
<a name="l00096"></a>00096 } <span class="comment">// End of namespace</span>
<a name="l00097"></a>00097 <span class="preprocessor">#endif</span>
</pre></div></div>
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