Polygon Class Reference

A class representing a convex polygon. More...

#include <PfieldGeometry.h>

Inheritance diagram for Polygon:

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[legend]List of all members.

Public Member Functions
void	addPoint (const PfVec &p)
	Adds a point to the polygon.
GeometryType	getType () const
	Returns the type of a geometric object.
PfieldGeometricObject *	clone () const
	Clones a polygon.
double	distanceTo (const PfPose &base, const PfVec &pos, PfVec &contact) const
	Computes the distance from the border of the object to a given point.
virtual void	initRadiusOfCollisionCircle ()
	Computes value of the radiusOfCollisionCircle variable.
PfieldGeometricObject *	getAbs (const PfPose &base) const
	Returns a geometric object with absolute coordinates.
virtual void	getPoints (std::vector< PfVec > &points)
	Returns all points of the object.
bool	pointInside (const PfVec &point) const
	Tests if a point is inside the polygon.
void	setAbsoluteFromOther (const PfPose &base, PfieldGeometricObject *other)
	Computes absolute coordinates from a base pose and another, relative polygon.
Public Attributes
std::vector< PfVec >	pts
	A list of points.

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Detailed Description

A class representing a convex polygon.

Definition at line 168 of file PfieldGeometry.h.

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Member Function Documentation

void Polygon::addPoint (  const PfVec &  p  )  [inline]

Adds a point to the polygon. Parameters: p  The point Definition at line 177 of file PfieldGeometry.h. References pts. Referenced by Parser::parseGeometricObject().

GeometryType Polygon::getType (   )  const [inline, virtual]

Returns the type of a geometric object. Returns: The type Implements PfieldGeometricObject. Definition at line 183 of file PfieldGeometry.h. References GeometryType, and POLYGON.

PfieldGeometricObject * Polygon::clone (   )  const [virtual]

Clones a polygon. Returns: A pointer to a copy of the object Implements PfieldGeometricObject. Definition at line 583 of file PfieldGeometry.cpp. References PfieldGeometricObject::intersectable, PfieldGeometricObject::position, pts, and PfieldGeometricObject::radiusOfCollisionCircle. Referenced by getAbs().

double Polygon::distanceTo (  const PfPose &  base, const PfVec &  pos, PfVec &  contact )  const [virtual]

Computes the distance from the border of the object to a given point. Parameters: base  The pose of the object to which the geometric object is assigned pos  The tested point contact  Returns the next position of the geometric object to the point Returns: The distance Implements PfieldGeometricObject. Definition at line 472 of file PfieldGeometry.cpp. References PfVec::distanceTo(), pointInside(), pointPerpendicularToLine(), PfPose::pos, pts, PfVec::rotate(), and PfPose::rotation. Referenced by SingleFormation::getPosition().

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void Polygon::initRadiusOfCollisionCircle (   )  [virtual]

Computes value of the radiusOfCollisionCircle variable. Implements PfieldGeometricObject. Definition at line 515 of file PfieldGeometry.cpp. References pts. Referenced by Parser::parseGeometricObject(), AmongFormation::updateGeometry(), and BetweenFormation::updateGeometry().

PfieldGeometricObject * Polygon::getAbs (  const PfPose &  base  )  const [virtual]

Returns a geometric object with absolute coordinates. Parameters: base  The pose of the object Returns: A pointer to a new geometric object Implements PfieldGeometricObject. Definition at line 557 of file PfieldGeometry.cpp. References clone(), PfPose::pos, pts, and PfPose::rotation.

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void Polygon::getPoints (  std::vector< PfVec > &  points  )  [virtual]

Returns all points of the object. Parameters: points  The list of points to which the object's points will be attached Reimplemented from PfieldGeometricObject. Definition at line 595 of file PfieldGeometry.cpp. References point, and pts.

bool Polygon::pointInside (  const PfVec &  point  )  const

Tests if a point is inside the polygon. Parameters: point  The point Returns: true, if the point is inside Definition at line 531 of file PfieldGeometry.cpp. References EPSILON, PfVec::length(), pi2, pts, and PfVec::scalarProduct(). Referenced by distanceTo(), AmongFormation::positionInsideFormation(), and BetweenFormation::positionInsideFormation().

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void Polygon::setAbsoluteFromOther (  const PfPose &  base, PfieldGeometricObject *  other )  [virtual]

Computes absolute coordinates from a base pose and another, relative polygon. Use careful! The other object has to be the same type and the size! Only positions are changed, other members will be ignored! Parameters: base  The new absolute position other  A relative geometric object Implements PfieldGeometricObject. Definition at line 570 of file PfieldGeometry.cpp. References PfPose::pos, pts, and PfPose::rotation.

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Member Data Documentation

std::vector<PfVec> Polygon::pts

A list of points. Definition at line 172 of file PfieldGeometry.h. Referenced by addPoint(), clone(), distanceTo(), getAbs(), getPoints(), initRadiusOfCollisionCircle(), intersectLineAndPolygon(), intersectPolygonAndCircle(), pointInside(), reduceToConvexHullByWrapping(), setAbsoluteFromOther(), AmongFormation::updateGeometry(), and BetweenFormation::updateGeometry().

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The documentation for this class was generated from the following files:

• Tools/PotentialFields/PfieldGeometry.h
• Tools/PotentialFields/PfieldGeometry.cpp

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