#include <SimPolygon2D.h>

Public Member Functions
	SimPolygon2D ()

const Point2 &	landmark (size_t i) const

size_t	size () const

const Point2Vector &	vertices () const

bool	equals (const SimPolygon2D &p, double tol=1e-5) const

void	print (const std::string &s="") const

std::vector< SimWall2D >	walls () const

bool	contains (const Point2 &p) const

bool	overlaps (const SimPolygon2D &p) const

Static Public Member Functions
static void	seedGenerator (unsigned long seed)

static SimPolygon2D	createTriangle (const Point2 &pA, const Point2 &pB, const Point2 &pC)

static SimPolygon2D	createRectangle (const Point2 &p, double height, double width)

static SimPolygon2D	randomTriangle (double side_len, double mean_side_len, double sigma_side_len, double min_vertex_dist, double min_side_len, const std::vector< SimPolygon2D > &existing_polys)

static SimPolygon2D	randomRectangle (double side_len, double mean_side_len, double sigma_side_len, double min_vertex_dist, double min_side_len, const std::vector< SimPolygon2D > &existing_polys)

static bool	anyContains (const Point2 &p, const std::vector< SimPolygon2D > &obstacles)

static bool	anyOverlaps (const SimPolygon2D &p, const std::vector< SimPolygon2D > &obstacles)

static bool	insideBox (double s, const Point2 &p)

static bool	nearExisting (const Point2Vector &S, const Point2 &p, double threshold)

static Point2	randomPoint2 (double s)

static Rot2	randomAngle ()

static double	randomDistance (double mu, double sigma, double min_dist=-1.0)

static Point2	randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, double min_landmark_dist)

static Point2	randomBoundedPoint2 (double boundary_size, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist)

static Point2	randomBoundedPoint2 (double boundary_size, const std::vector< SimPolygon2D > &obstacles)

static Point2	randomBoundedPoint2 (const Point2 &LL_corner, const Point2 &UR_corner, const Point2Vector &landmarks, const std::vector< SimPolygon2D > &obstacles, double min_landmark_dist)

static Pose2	randomFreePose (double boundary_size, const std::vector< SimPolygon2D > &obstacles)

Protected Attributes
Point2Vector	landmarks_

Static Protected Attributes
static std::minstd_rand	rng

Detailed Description

General polygon class for convex polygons

Constructor & Destructor Documentation

◆ SimPolygon2D()

gtsam::SimPolygon2D::SimPolygon2D ( )

inline

Don't use this constructor, use a named one instead

Member Function Documentation

◆ anyContains()

static bool gtsam::SimPolygon2D::anyContains	(	const Point2 &	p,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

returns true iff p is contained in any of a set of polygons

◆ anyOverlaps()

static bool gtsam::SimPolygon2D::anyOverlaps	(	const SimPolygon2D &	p,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

returns true iff polygon p overlaps with any of a set of polygons

◆ contains()

bool gtsam::SimPolygon2D::contains ( const Point2 & p ) const

Core function for randomly generating scenarios. Polygons are closed, convex shapes.

Returns: true if the given point is contained by this polygon

◆ createRectangle()

static SimPolygon2D gtsam::SimPolygon2D::createRectangle	(	const Point2 &	p,
		double	height,
		double	width
	)

static

Named constructor for creating axis-aligned rectangles

Parameters

p	is the lower-left corner

◆ createTriangle()

static SimPolygon2D gtsam::SimPolygon2D::createTriangle	(	const Point2 &	pA,
		const Point2 &	pB,
		const Point2 &	pC
	)

static

Named constructor for creating triangles

◆ insideBox()

static bool gtsam::SimPolygon2D::insideBox	(	double	s,
		const Point2 &	p
	)

static

returns true iff p is inside a square centered at zero with side s

◆ nearExisting()

static bool gtsam::SimPolygon2D::nearExisting	(	const Point2Vector &	S,
		const Point2 &	p,
		double	threshold
	)

static

returns true iff p is within threshold of any point in S

◆ overlaps()

bool gtsam::SimPolygon2D::overlaps ( const SimPolygon2D & p ) const

Checks two polygons to determine if they overlap

Returns: true iff at least one vertex of one polygon is contained in the other

◆ randomAngle()

static Rot2 gtsam::SimPolygon2D::randomAngle ( )

static

randomly generate a Rot2 with a uniform distribution over theta

◆ randomBoundedPoint2() [1/4]

static Point2 gtsam::SimPolygon2D::randomBoundedPoint2	(	double	boundary_size,
		const Point2Vector &	landmarks,
		double	min_landmark_dist
	)

static

pick a random point within a box that is further than dist d away from existing landmarks

◆ randomBoundedPoint2() [2/4]

static Point2 gtsam::SimPolygon2D::randomBoundedPoint2	(	double	boundary_size,
		const Point2Vector &	landmarks,
		const std::vector< SimPolygon2D > &	obstacles,
		double	min_landmark_dist
	)

static

pick a random point within a box that meets above requirements, as well as staying out of obstacles

◆ randomBoundedPoint2() [3/4]

static Point2 gtsam::SimPolygon2D::randomBoundedPoint2	(	double	boundary_size,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

pick a random point that only avoid obstacles

◆ randomBoundedPoint2() [4/4]

static Point2 gtsam::SimPolygon2D::randomBoundedPoint2	(	const Point2 &	LL_corner,
		const Point2 &	UR_corner,
		const Point2Vector &	landmarks,
		const std::vector< SimPolygon2D > &	obstacles,
		double	min_landmark_dist
	)

static

pick a random point in box defined by lower left and upper right corners

◆ randomDistance()

static double gtsam::SimPolygon2D::randomDistance	(	double	mu,
		double	sigma,
		double	min_dist = `-1.0`
	)

static

generate a distance from a normal distribution given a mean and sigma

◆ randomFreePose()

static Pose2 gtsam::SimPolygon2D::randomFreePose	(	double	boundary_size,
		const std::vector< SimPolygon2D > &	obstacles
	)

static

pick a random pose in a bounded area that is not in an obstacle

◆ randomPoint2()

static Point2 gtsam::SimPolygon2D::randomPoint2 ( double s )

static

pick a random point uniformly over a box of side s

◆ randomRectangle()

static SimPolygon2D gtsam::SimPolygon2D::randomRectangle	(	double	side_len,
		double	mean_side_len,
		double	sigma_side_len,
		double	min_vertex_dist,
		double	min_side_len,
		const std::vector< SimPolygon2D > &	existing_polys
	)

static

Randomly generate a rectangle that does not conflict with others Uniformly distributed over box area, with normally distributed lengths of edges THROWS: std::runtime_error if can't find a position

◆ randomTriangle()

static SimPolygon2D gtsam::SimPolygon2D::randomTriangle	(	double	side_len,
		double	mean_side_len,
		double	sigma_side_len,
		double	min_vertex_dist,
		double	min_side_len,
		const std::vector< SimPolygon2D > &	existing_polys
	)

static

Randomly generate a triangle that does not conflict with others Uniformly distributed over box area, with normally distributed lengths of edges THROWS: std::runtime_error if can't find a position

◆ seedGenerator()

static void gtsam::SimPolygon2D::seedGenerator ( unsigned long seed )

static

seed the random number generator - only needs to be done once

◆ walls()

std::vector<SimWall2D> gtsam::SimPolygon2D::walls ( ) const

Get a set of walls along the edges

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/geometry/SimPolygon2D.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SimPolygon2D()

Member Function Documentation

◆ anyContains()

◆ anyOverlaps()

◆ contains()

◆ createRectangle()

◆ createTriangle()

◆ insideBox()

◆ nearExisting()

◆ overlaps()

◆ randomAngle()

◆ randomBoundedPoint2() [1/4]

◆ randomBoundedPoint2() [2/4]

◆ randomBoundedPoint2() [3/4]

◆ randomBoundedPoint2() [4/4]

◆ randomDistance()

◆ randomFreePose()

◆ randomPoint2()

◆ randomRectangle()

◆ randomTriangle()

◆ seedGenerator()

◆ walls()