00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPOLYGON_H 00029 #define CPOLYGON_H 00030 00031 #include <mrpt/utils/utils_defs.h> 00032 #include <mrpt/utils/CSerializable.h> 00033 #include <mrpt/math/lightweight_geom_data.h> 00034 00035 namespace mrpt 00036 { 00037 namespace math 00038 { 00039 // This must be added to any CSerializable derived class: 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPolygon, mrpt::utils::CSerializable ) 00041 00042 /** A wrapper of a TPolygon2D class, implementing CSerializable. 00043 */ 00044 class BASE_IMPEXP CPolygon : public mrpt::utils::CSerializable, public mrpt::math::TPolygon2D 00045 { 00046 // This must be added to any CSerializable derived class: 00047 DEFINE_SERIALIZABLE( CPolygon ) 00048 00049 public: 00050 /** Constructor 00051 * cx and cy are the "central" point coordinates (laser sensor location if applicable) 00052 * This parameters are NOT used in PointIntoPolygon, so they can be ignored. 00053 * \sa PointIntoPolygon 00054 */ 00055 CPolygon() : TPolygon2D() 00056 { 00057 } 00058 00059 /** Add a new vertex to polygon: */ 00060 void AddVertex(double x,double y) { 00061 TPolygon2D::push_back(TPoint2D(x,y)); 00062 } 00063 00064 /** Methods for accessing the vertexs: 00065 * \sa verticesCount 00066 */ 00067 double GetVertex_x(size_t i) const { ASSERT_(i<TPolygon2D::size()); return TPolygon2D::operator [](i).x; } 00068 double GetVertex_y(size_t i) const { ASSERT_(i<TPolygon2D::size()); return TPolygon2D::operator [](i).y; } 00069 00070 /** Returns the vertices count in the polygon: */ 00071 size_t verticesCount() const { return TPolygon2D::size(); } 00072 00073 /** Set all vertices at once. */ 00074 void setAllVertices( const std::vector<double> &x, const std::vector<double> &y ); 00075 /** Set all vertices at once. Please use the std::vector version whenever possible unless efficiency is really an issue */ 00076 void setAllVertices( size_t nVertices, const double *xs, const double *ys ); 00077 /** Set all vertices at once. Please use the std::vector version whenever possible unless efficiency is really an issue */ 00078 void setAllVertices( size_t nVertices, const float *xs, const float *ys ); 00079 00080 /** Get all vertices at once. */ 00081 void getAllVertices( std::vector<double> &x, std::vector<double> &y ) const; 00082 00083 /** Clear the polygon, erasing all vertexs. */ 00084 void Clear() { TPolygon2D::clear(); } 00085 00086 /** Check if a point is inside the polygon: 00087 */ 00088 bool PointIntoPolygon(double x,double y) const { 00089 return TPolygon2D::contains(TPoint2D(x,y)); 00090 } 00091 00092 }; 00093 00094 } // End of namespace 00095 } // End of namespace 00096 #endif
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