collision::Polygon Class Reference

Polygon contains Triangles and Vertices. More...

#include <polygon.h>

Inheritance diagram for collision::Polygon:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Polygon (std::vector< Eigen::Vector2d > &vertices, std::vector< std::vector< Eigen::Vector2d >> &hole_vertices, std::vector< TriangleConstPtr > &mesh_triangles, const Eigen::Vector2d &_center=Eigen::Vector2d(0, 0))
	Polygon (const Polygon &copy)
Polygon *	clone () const
ShapeType	type (void) const
	Get shape type. More...
bool	rayTrace (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect) const override
virtual	~Polygon ()
bool	isWithin (const Polygon &poly2) const
virtual const solvers::solverBoost::ISolverEntity_Boost *	getBoostInterface () const override
virtual void	toString (std::ostringstream &stream) const
virtual void	print (std::ostringstream &stream) const
	Print all parameters of the shape. More...
virtual CollisionObjectConstPtr	timeSlice (int time_idx, CollisionObjectConstPtr shared_ptr_this) const
ShapeGroupConstPtr	getTrapezoids () const
std::vector< TriangleConstPtr >	getTriangleMesh () const
std::vector< Eigen::Vector2d >	getVertices () const
std::vector< std::vector< Eigen::Vector2d > >	getHoleVertices () const
virtual CollisionObjectType	getCollisionObjectType () const override
Public Member Functions inherited from collision::Shape
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionObjectClass	getCollisionObjectClass () const override
virtual const ISolverEntity_FCL *	getFclInterface () const override
	Shape (const Shape &copy)
Eigen::Vector2d	center () const
	Get geometric center of shape. More...
double	center_x () const
double	center_y () const
void	set_center (const Eigen::Vector2d &_center)
	Set geometric center of shape. More...
double	radius () const
	Get radius. More...
virtual	~Shape ()
Public Member Functions inherited from collision::CollisionObjectEx
	CollisionObjectEx ()
virtual	~CollisionObjectEx ()
virtual bool	collide (const CollisionObject &c, const collision::CollisionRequest &req=CollisionRequest()) const
virtual bool	BVCheck (CollisionObjectConstPtr obj2) const
virtual std::shared_ptr< const collision::RectangleAABB >	getAABB () const
virtual int	getSolverEntity (solvers::solverFCL::SolverEntity_FCL *&ptr) const
virtual int	getSolverEntity (solvers::solverBoost::SolverEntity_Boost *&ptr) const
virtual const ICollisionContainer *	getContainerInterface (void) const
Public Member Functions inherited from collision::CollisionObject
virtual	~CollisionObject ()
virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map) const
virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map, CollisionObjectConstPtr parent) const

Additional Inherited Members
Protected Member Functions inherited from collision::Shape
	Shape (const Eigen::Vector2d &_center)
Protected Member Functions inherited from collision::CollisionObjectEx
void	invalidateCollisionEntityCache (void)
Protected Attributes inherited from collision::Shape
Eigen::Vector2d	center_
double	radius_

Detailed Description

Polygon contains Triangles and Vertices.

Definition at line 29 of file polygon.h.

Constructor & Destructor Documentation

Polygon() [1/2]

collision::Polygon::Polygon	(	std::vector< Eigen::Vector2d > &	vertices,
		std::vector< std::vector< Eigen::Vector2d >> &	hole_vertices,
		std::vector< TriangleConstPtr > &	mesh_triangles,
		const Eigen::Vector2d &	_center = Eigen::Vector2d(0, 0)
	)

Definition at line 16 of file polygon.cc.

Polygon() [2/2]

collision::Polygon::Polygon

(

const Polygon &

copy

)

Definition at line 83 of file polygon.cc.

~Polygon()

virtual collision::Polygon::~Polygon ( )

inlinevirtual

Definition at line 59 of file polygon.h.

Member Function Documentation

clone()

Polygon * collision::Polygon::clone ( ) const

virtual

Implements collision::Shape.

Definition at line 81 of file polygon.cc.

getBoostInterface()

virtual const solvers::solverBoost::ISolverEntity_Boost* collision::Polygon::getBoostInterface ( void  ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObjectEx.

Definition at line 63 of file polygon.h.

getCollisionObjectType()

virtual CollisionObjectType collision::Polygon::getCollisionObjectType ( ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 79 of file polygon.h.

getHoleVertices()

std::vector< std::vector< Eigen::Vector2d > > collision::Polygon::getHoleVertices

(

)

const

Definition at line 155 of file polygon.cc.

getTrapezoids()

ShapeGroupConstPtr collision::Polygon::getTrapezoids

(

)

const

getTriangleMesh()

std::vector< TriangleConstPtr > collision::Polygon::getTriangleMesh

(

)

const

Definition at line 149 of file polygon.cc.

getVertices()

std::vector< Eigen::Vector2d > collision::Polygon::getVertices

(

)

const

Definition at line 153 of file polygon.cc.

isWithin()

bool collision::Polygon::isWithin

(

const Polygon &

poly2

)

const

Definition at line 105 of file polygon.cc.

print()

void collision::Polygon::print ( std::ostringstream &  stream ) const

virtual

Print all parameters of the shape.

Implements collision::Shape.

Definition at line 94 of file polygon.cc.

rayTrace()

bool collision::Polygon::rayTrace ( const Eigen::Vector2d &  point1, const Eigen::Vector2d &  point2, std::vector< LineSegment > &  intersect  ) const

overridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 65 of file polygon.cc.

timeSlice()

CollisionObjectConstPtr collision::Polygon::timeSlice ( int  time_idx, CollisionObjectConstPtr  shared_ptr_this  ) const

virtual

Reimplemented from collision::Shape.

Definition at line 144 of file polygon.cc.

toString()

void collision::Polygon::toString ( std::ostringstream &  stream ) const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 96 of file polygon.cc.

type()

ShapeType collision::Polygon::type ( void  ) const

virtual

Get shape type.

Implements collision::Shape.

Definition at line 92 of file polygon.cc.

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

• include/collision/narrowphase/polygon.h
• src/narrowphase/polygon.cc