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<li class="navelem"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html">TPolygon3D</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> </div>
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<div class="title">mrpt::math::TPolygon3D Class Reference<div class="ingroups"><a class="el" href="group__geometry__grp.html">Geometry: lines, planes, intersections, SLERP, "lightweight" point & pose classes</a></div></div> </div>
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<!-- doxytag: class="mrpt::math::TPolygon3D" --><!-- doxytag: inherits="vector< TPoint3D >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>3D polygon, inheriting from std::vector<TPoint3D> </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector<TPoint2D>.">TPolygon2D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a>,<a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="lightweight__geom__data_8h_source.html">mrpt/math/lightweight_geom_data.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::math::TPolygon3D:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1math_1_1_t_polygon3_d__inherit__graph.png" border="0" usemap="#mrpt_1_1math_1_1_t_polygon3_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1math_1_1_t_polygon3_d_inherit__map" id="mrpt_1_1math_1_1_t_polygon3_d_inherit__map">
<area shape="rect" id="node2" href="classstd_1_1vector.html" title="std::vector\< TPoint3D \>" alt="" coords="5,96,168,123"/><area shape="rect" id="node4" href="classstd_1_1vector.html" title="STL class." alt="" coords="45,5,128,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1math_1_1_t_polygon3_d-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#af30d29cd3af9b899de98a860d4e7a0cb">distance</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Distance to point. <a href="#af30d29cd3af9b899de98a860d4e7a0cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a6a29308163f04fedc764423615795762">contains</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether a point is inside the polygon. <a href="#a6a29308163f04fedc764423615795762"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#ad97093f63774704d262b835f78e81bc7">getAsSegmentList</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html">TSegment3D</a> > &v) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets as set of segments, instead of set of points. <a href="#ad97093f63774704d262b835f78e81bc7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a82c39a37f6ea5e58b20b942142e29c4e">getPlane</a> (<a class="el" href="structmrpt_1_1math_1_1_t_plane.html">TPlane</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a plane which contains the polygon. <a href="#a82c39a37f6ea5e58b20b942142e29c4e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a157fc94b9732a09dc514e5b8c0a83830">getBestFittingPlane</a> (<a class="el" href="structmrpt_1_1math_1_1_t_plane.html">TPlane</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the best fitting plane, disregarding whether the polygon actually fits inside or not. <a href="#a157fc94b9732a09dc514e5b8c0a83830"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a4209a7967588128b36b73b04a18d36eb">generate2DObject</a> (<a class="el" href="classmrpt_1_1math_1_1_t_polygon2_d.html">TPolygon2D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Projects into a 2D space, discarding the z. <a href="#a4209a7967588128b36b73b04a18d36eb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a216fae2ad798672bfca23218a7fb061d">getCenter</a> (<a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get polygon's central point. <a href="#a216fae2ad798672bfca23218a7fb061d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#acc1139c103a191e124cba11dbee02da3">isSkew</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether the polygon is skew. <a href="#acc1139c103a191e124cba11dbee02da3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a9693f0d844b9df4f61dcd0aef62c6fd1">removeRepeatedVertices</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove polygon's repeated vertices. <a href="#a9693f0d844b9df4f61dcd0aef62c6fd1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a8d2ebbd50b587e2d7a8adea7a549e467">removeRedundantVertices</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase every redundant vertex, thus saving space. <a href="#a8d2ebbd50b587e2d7a8adea7a549e467"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a07f012fced83cde548f8b822e93a6fd1">TPolygon3D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a07f012fced83cde548f8b822e93a6fd1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a99f35e3f32c78eaa551221826754bfff">TPolygon3D</a> (size_t N)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor for a given size. <a href="#a99f35e3f32c78eaa551221826754bfff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a8de8639b3e64863d83a8d2b777a499a3">TPolygon3D</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > &v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implicit constructor from a 3D points vector. <a href="#a8de8639b3e64863d83a8d2b777a499a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#afd6c387b770e945c3361bccca0a258ed">TPolygon3D</a> (const <a class="el" href="classmrpt_1_1math_1_1_t_polygon2_d.html">TPolygon2D</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a 2D object. <a href="#afd6c387b770e945c3361bccca0a258ed"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#aeb278bb16978590ab775363bc9a207d2">createRegularPolygon</a> (size_t numEdges, double radius, <a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html">TPolygon3D</a> &poly)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Static method to create a regular polygon, given its size and radius. <a href="#aeb278bb16978590ab775363bc9a207d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#adeda35c88393c28a6a0f4700a845d55d">createRegularPolygon</a> (size_t numEdges, double radius, <a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html">TPolygon3D</a> &poly, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &pose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Static method to create a regular polygon, given its size and radius. <a href="#adeda35c88393c28a6a0f4700a845d55d"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a07f012fced83cde548f8b822e93a6fd1"></a><!-- doxytag: member="mrpt::math::TPolygon3D::TPolygon3D" ref="a07f012fced83cde548f8b822e93a6fd1" args="()" -->
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<td class="memname">mrpt::math::TPolygon3D::TPolygon3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
</div>
<div class="memdoc">
<p>Default constructor. </p>
<p>Creates a polygon with no vertices. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01197">1197</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="a99f35e3f32c78eaa551221826754bfff"></a><!-- doxytag: member="mrpt::math::TPolygon3D::TPolygon3D" ref="a99f35e3f32c78eaa551221826754bfff" args="(size_t N)" -->
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<td class="memname">mrpt::math::TPolygon3D::TPolygon3D </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em></td><td>)</td>
<td><code> [inline, explicit]</code></td>
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<div class="memdoc">
<p>Constructor for a given size. </p>
<p>Creates a polygon with a fixed number of vertices, which are initialized to garbage. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01201">1201</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="a8de8639b3e64863d83a8d2b777a499a3"></a><!-- doxytag: member="mrpt::math::TPolygon3D::TPolygon3D" ref="a8de8639b3e64863d83a8d2b777a499a3" args="(const std::vector< TPoint3D > &v)" -->
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<td class="memname">mrpt::math::TPolygon3D::TPolygon3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > & </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Implicit constructor from a 3D points vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01205">1205</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="afd6c387b770e945c3361bccca0a258ed"></a><!-- doxytag: member="mrpt::math::TPolygon3D::TPolygon3D" ref="afd6c387b770e945c3361bccca0a258ed" args="(const TPolygon2D &p)" -->
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<td class="memname">mrpt::math::TPolygon3D::TPolygon3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_t_polygon2_d.html">TPolygon2D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td></td>
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<p>Constructor from a 2D object. </p>
<p>Zeroes the z. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6a29308163f04fedc764423615795762"></a><!-- doxytag: member="mrpt::math::TPolygon3D::contains" ref="a6a29308163f04fedc764423615795762" args="(const TPoint3D &point) const " -->
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<td class="memname">bool mrpt::math::TPolygon3D::contains </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"><em>point</em></td><td>)</td>
<td> const</td>
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<p>Check whether a point is inside the polygon. </p>
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<a class="anchor" id="aeb278bb16978590ab775363bc9a207d2"></a><!-- doxytag: member="mrpt::math::TPolygon3D::createRegularPolygon" ref="aeb278bb16978590ab775363bc9a207d2" args="(size_t numEdges, double radius, TPolygon3D &poly)" -->
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<td class="memname">static void mrpt::math::TPolygon3D::createRegularPolygon </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>numEdges</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>radius</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html">TPolygon3D</a> & </td>
<td class="paramname"><em>poly</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>Static method to create a regular polygon, given its size and radius. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a></td><td>if number of edges is less than three, or radius is near zero. </td></tr>
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</dd>
</dl>
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<a class="anchor" id="adeda35c88393c28a6a0f4700a845d55d"></a><!-- doxytag: member="mrpt::math::TPolygon3D::createRegularPolygon" ref="adeda35c88393c28a6a0f4700a845d55d" args="(size_t numEdges, double radius, TPolygon3D &poly, const mrpt::poses::CPose3D &pose)" -->
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<td class="memname">static void mrpt::math::TPolygon3D::createRegularPolygon </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>numEdges</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>radius</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html">TPolygon3D</a> & </td>
<td class="paramname"><em>poly</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> & </td>
<td class="paramname"><em>pose</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, static]</code></td>
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<p>Static method to create a regular polygon, given its size and radius. </p>
<p>The center will be located on the given pose. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a></td><td>if number of edges is less than three, or radius is near zero. </td></tr>
</table>
</dd>
</dl>
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<td class="memname">double mrpt::math::TPolygon3D::distance </td>
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<p>Distance to point. </p>
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<td class="memname">void mrpt::math::TPolygon3D::generate2DObject </td>
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<p>Projects into a 2D space, discarding the z. </p>
<p>getPlane,isSkew </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01174">1174</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<td class="memname">void mrpt::math::TPolygon3D::getAsSegmentList </td>
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<td class="paramname"><em>v</em></td><td>)</td>
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<p>Gets as set of segments, instead of set of points. </p>
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<td class="paramname"><em>p</em></td><td>)</td>
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<p>Gets the best fitting plane, disregarding whether the polygon actually fits inside or not. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a157fc94b9732a09dc514e5b8c0a83830" title="Gets the best fitting plane, disregarding whether the polygon actually fits inside or not...">getBestFittingPlane</a> </dd></dl>
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<p>Get polygon's central point. </p>
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<p>Gets a plane which contains the polygon. </p>
<p>Returns false if the polygon is skew and cannot be fit inside a plane. </p>
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<p>Check whether the polygon is skew. </p>
<p>Returns true if there doesn't exist a plane in which the polygon can fit. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a157fc94b9732a09dc514e5b8c0a83830" title="Gets the best fitting plane, disregarding whether the polygon actually fits inside or not...">getBestFittingPlane</a> </dd></dl>
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<a class="anchor" id="a8d2ebbd50b587e2d7a8adea7a549e467"></a><!-- doxytag: member="mrpt::math::TPolygon3D::removeRedundantVertices" ref="a8d2ebbd50b587e2d7a8adea7a549e467" args="()" -->
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<p>Erase every redundant vertex, thus saving space. </p>
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<p>Remove polygon's repeated vertices. </p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
