us.ihmc.utilities.math.geometry
Class FrameConvexPolygon2d

java.lang.Object
  us.ihmc.utilities.math.geometry.FrameConvexPolygon2d

All Implemented Interfaces:

FrameGeometry2d, ReferenceFrameHolder

public class FrameConvexPolygon2d
extends java.lang.Object
implements ReferenceFrameHolder, FrameGeometry2d

Title:

Description:

Copyright: Copyright (c) 2007

Company:

Version:

1.0

Author:

IHMC-Yobotics Biped Team

Constructor Summary

FrameConvexPolygon2d(java.util.ArrayList<FramePoint2d> framePointList)

FrameConvexPolygon2d(FrameConvexPolygon2d frameConvexPolygon2d)

FrameConvexPolygon2d(ReferenceFrame referenceFrame, java.util.ArrayList<javax.vecmath.Point2d> pointList)

FrameConvexPolygon2d(ReferenceFrame referenceFrame, ConvexPolygon2d convexPolygon2d)

FrameConvexPolygon2d(ReferenceFrame referenceFrame, double[][] pointList)

Method Summary

FrameConvexPolygon2d	applyTransformCopy(javax.media.j3d.Transform3D transform, ReferenceFrame newFrame, boolean requirePlanarTransform) applyTransformCopy Use of this method is discouraged.
FrameConvexPolygon2d	changeFrameCopy(ReferenceFrame desiredFrame)
FrameConvexPolygon2d	changeFrameCopy(ReferenceFrame desiredFrame, boolean requireTransformInPlane)
void	checkReferenceFrameMatch(ReferenceFrame frame)
void	checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
static FrameConvexPolygon2dAndConnectingEdges	combineDisjointPolygons(FrameConvexPolygon2d polygon1, FrameConvexPolygon2d polygon2)
static FrameConvexPolygon2d	combinePolygons(FrameConvexPolygon2d firstPolygon, FrameConvexPolygon2d secondPolygon)
FrameConvexPolygon2d	combineWith(FrameConvexPolygon2d secondPolygon) combine Creates new convex polygon.
double	distance(FrameConvexPolygon2d secondConvexPolygon)
double	distance(FrameLine2d line)
double	distance(FrameLineSegment2d lineSegment)
double	distance(FramePoint2d point)
double	distanceToClosestVertex(FramePoint2d point)
double[]	distanceToEachVertex(FramePoint2d point)
java.util.ArrayList<FramePoint2d>	getAllVisibleVerticesFromOutsideLeftToRight(FramePoint2d observerFramePoint) Returns all of the vertices that are visible from the observerPoint2d, in left to right order.
FrameLineSegment2d[]	getAroundTheCornerEdges(FramePoint2d observerFramePoint) Returns the two FrameLineSegment2ds that are the first segments around the corner that cannot be seen from the observer FramePoint2d.
BoundingBox2d	getBoundingBox()
void	getCentroid(FramePoint2d centroid)
FramePoint2d	getCentroidCopy()
java.util.ArrayList<FramePoint2d>	getClockwiseOrderedListOfFramePoints()
FramePoint2d	getClosestVertexCopy(FrameLine2d line)
FramePoint2d	getClosestVertexCopy(FramePoint2d point)
ConvexPolygon2d	getConvexPolygon2d()
ConvexPolygon2d	getConvexPolygon2dCopy()
FrameLineSegment2d[]	getIntersectingEdges(FrameLine2d frameLine2d) Returns the intersecting edges between this polygon and the given FrameLine2d.
FramePoint2d[]	getLineOfSightVertices(FramePoint2d observerFramePoint)
FrameLineSegment2d[]	getLineSegmentsOfSight(FramePoint2d observerFramePoint)
FrameLine2d[]	getLinesOfSight(FramePoint2d observerFramePoint)
FrameLineSegment2d[]	getNearestEdges(FramePoint2d testPoint)
int	getNumberOfVertices()
ReferenceFrame	getReferenceFrame()
FrameConvexPolygon2d	intersectionWith(FrameConvexPolygon2d secondConvexPolygon)
FramePoint2d[]	intersectionWith(FrameLine2d line)
FramePoint2d[]	intersectionWith(FrameLineSegment2d lineSegment)
FramePoint2d[]	intersectionWithRay(FrameLine2d ray)
boolean	isPointInside(FramePoint2d framePoint) isPointInside Determines whether a point is inside the convex polygon (point in polygon test).
boolean	isPointInside(FramePoint2d[] framePoints) isInside Determines whether all the points in framePoints are inside the convex polygon.
FramePoint2d	maxXMaxYPointCopy()
FramePoint2d	maxXMinYPointCopy()
FramePoint2d	minXMaxYPointCopy()
FramePoint2d	minXMinYPointCopy()
void	orthogonalProjection(FramePoint2d point)
FramePoint2d	orthogonalProjectionCopy(FramePoint2d point)
double	perimeter()
FramePoint2d	pointOnPerimeterGivenParameter(double parameter)
FrameConvexPolygon2d	projectOntoFrameCopy(ReferenceFrame desiredFrame)
void	pullPointTowardsCentroid(FramePoint2d point, double percent)
FramePoint2d	pullTowardsCentroidCopy(FramePoint2d point, double percent)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

FrameConvexPolygon2d

public FrameConvexPolygon2d(ReferenceFrame referenceFrame,
                            ConvexPolygon2d convexPolygon2d)

FrameConvexPolygon2d

public FrameConvexPolygon2d(ReferenceFrame referenceFrame,
                            java.util.ArrayList<javax.vecmath.Point2d> pointList)

FrameConvexPolygon2d

public FrameConvexPolygon2d(ReferenceFrame referenceFrame,
                            double[][] pointList)

FrameConvexPolygon2d

public FrameConvexPolygon2d(java.util.ArrayList<FramePoint2d> framePointList)

FrameConvexPolygon2d

public FrameConvexPolygon2d(FrameConvexPolygon2d frameConvexPolygon2d)

Method Detail

getConvexPolygon2dCopy

public ConvexPolygon2d getConvexPolygon2dCopy()

getCentroid

public void getCentroid(FramePoint2d centroid)

getCentroidCopy

public FramePoint2d getCentroidCopy()

getNumberOfVertices

public int getNumberOfVertices()

getConvexPolygon2d

public ConvexPolygon2d getConvexPolygon2d()

getClockwiseOrderedListOfFramePoints

public java.util.ArrayList<FramePoint2d> getClockwiseOrderedListOfFramePoints()

getBoundingBox

public BoundingBox2d getBoundingBox()

isPointInside

public boolean isPointInside(FramePoint2d framePoint)

isPointInside Determines whether a point is inside the convex polygon (point in polygon test). Uses the orientation method (Nordbeck, Rystedt, 1967) Test is only valid for convex polygons, and only if the vertices are ordered clockwise.

Parameters:

testFramePoint2d - FramePoint2d the point to be tested

Returns:

boolean true if the point is inside the polygon

isPointInside

public boolean isPointInside(FramePoint2d[] framePoints)

isInside Determines whether all the points in framePoints are inside the convex polygon.

Parameters:

framePoints - FramePoint2d[]

Returns:

boolean

getLinesOfSight

public FrameLine2d[] getLinesOfSight(FramePoint2d observerFramePoint)

getAllVisibleVerticesFromOutsideLeftToRight

public java.util.ArrayList<FramePoint2d> getAllVisibleVerticesFromOutsideLeftToRight(FramePoint2d observerFramePoint)

Returns all of the vertices that are visible from the observerPoint2d, in left to right order. If the observerPoint2d is inside the polygon, returns null.

Parameters:

observerPoint2d - Point2d

Returns:

Point2d[]

getLineOfSightVertices

public FramePoint2d[] getLineOfSightVertices(FramePoint2d observerFramePoint)

getAroundTheCornerEdges

public FrameLineSegment2d[] getAroundTheCornerEdges(FramePoint2d observerFramePoint)

Returns the two FrameLineSegment2ds that are the first segments around the corner that cannot be seen from the observer FramePoint2d. If the observer FramePoint2d is null returns null. The line segments are returned in order of left, then right. The line segments go from the line of sight points to the points that are not in view, but are around the corner.

Parameters:

observerFramePoint - FramePoint2d marking the point of observation of this ConvexPolygon2d.

Returns:

FrameLineSegment2d[] Two line segments going from the line of sight points to the first points around the corners that are out of sight. null if the observer FramePoint2d is inside this FrameConvexPolygon2d.

getLineSegmentsOfSight

public FrameLineSegment2d[] getLineSegmentsOfSight(FramePoint2d observerFramePoint)

getIntersectingEdges

public FrameLineSegment2d[] getIntersectingEdges(FrameLine2d frameLine2d)

Returns the intersecting edges between this polygon and the given FrameLine2d. The FrameLine2d is treated as a ray. This method returns null if: - The start point of the ray starts inside the Polygon, - The ray points away from the polygon. - The intersection is a single vertex, - There is no intersection.

Parameters:

frameLine2d - FrameLine2d Ray to check intersection with this Polygon.

Returns:

FrameLineSegment2d[] The two edges that the Ray intersects on this Polygon.

distanceToEachVertex

public double[] distanceToEachVertex(FramePoint2d point)

getClosestVertexCopy

public FramePoint2d getClosestVertexCopy(FramePoint2d point)

getClosestVertexCopy

public FramePoint2d getClosestVertexCopy(FrameLine2d line)

distanceToClosestVertex

public double distanceToClosestVertex(FramePoint2d point)

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)
                              throws ReferenceFrameMismatchException

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

Throws:

ReferenceFrameMismatchException

getReferenceFrame

public ReferenceFrame getReferenceFrame()

Specified by:

getReferenceFrame in interface ReferenceFrameHolder

projectOntoFrameCopy

public FrameConvexPolygon2d projectOntoFrameCopy(ReferenceFrame desiredFrame)

changeFrameCopy

public FrameConvexPolygon2d changeFrameCopy(ReferenceFrame desiredFrame)

Specified by:

changeFrameCopy in interface ReferenceFrameHolder

changeFrameCopy

public FrameConvexPolygon2d changeFrameCopy(ReferenceFrame desiredFrame,
                                            boolean requireTransformInPlane)

applyTransformCopy

public FrameConvexPolygon2d applyTransformCopy(javax.media.j3d.Transform3D transform,
                                               ReferenceFrame newFrame,
                                               boolean requirePlanarTransform)

applyTransformCopy Use of this method is discouraged. Only use it to speed up computation when transforming large FrameConvexPolygon2ds or when transforming them en masse, and only when the desired reference frame is not a parent or child of the current reference frame.

Parameters:

transform - Transform3D

newFrame - ReferenceFrame

requirePlanarTransform - boolean

Returns:

FrameConvexPolygon2d

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getNearestEdges

public FrameLineSegment2d[] getNearestEdges(FramePoint2d testPoint)

orthogonalProjection

public void orthogonalProjection(FramePoint2d point)

Specified by:

orthogonalProjection in interface FrameGeometry2d

orthogonalProjectionCopy

public FramePoint2d orthogonalProjectionCopy(FramePoint2d point)

Specified by:

orthogonalProjectionCopy in interface FrameGeometry2d

intersectionWith

public FramePoint2d[] intersectionWith(FrameLine2d line)

Specified by:

intersectionWith in interface FrameGeometry2d

intersectionWithRay

public FramePoint2d[] intersectionWithRay(FrameLine2d ray)

intersectionWith

public FramePoint2d[] intersectionWith(FrameLineSegment2d lineSegment)

Specified by:

intersectionWith in interface FrameGeometry2d

intersectionWith

public FrameConvexPolygon2d intersectionWith(FrameConvexPolygon2d secondConvexPolygon)

Specified by:

intersectionWith in interface FrameGeometry2d

distance

public double distance(FramePoint2d point)

Specified by:

distance in interface FrameGeometry2d

distance

public double distance(FrameLine2d line)

Specified by:

distance in interface FrameGeometry2d

distance

public double distance(FrameLineSegment2d lineSegment)

Specified by:

distance in interface FrameGeometry2d

distance

public double distance(FrameConvexPolygon2d secondConvexPolygon)

Specified by:

distance in interface FrameGeometry2d

minXMaxYPointCopy

public FramePoint2d minXMaxYPointCopy()

minXMinYPointCopy

public FramePoint2d minXMinYPointCopy()

maxXMaxYPointCopy

public FramePoint2d maxXMaxYPointCopy()

maxXMinYPointCopy

public FramePoint2d maxXMinYPointCopy()

perimeter

public double perimeter()

pointOnPerimeterGivenParameter

public FramePoint2d pointOnPerimeterGivenParameter(double parameter)

pullPointTowardsCentroid

public void pullPointTowardsCentroid(FramePoint2d point,
                                     double percent)

pullTowardsCentroidCopy

public FramePoint2d pullTowardsCentroidCopy(FramePoint2d point,
                                            double percent)

combineWith

public FrameConvexPolygon2d combineWith(FrameConvexPolygon2d secondPolygon)

combine Creates new convex polygon. Its clockwiseOrderedListOfPoints is the convex hull of all the vertices of the polygons it was created from.

Parameters:

firstPolygon - ConvexPolygon2d

secondPolygon - ConvexPolygon2d

Returns:

ConvexPolygon2d

combinePolygons

public static FrameConvexPolygon2d combinePolygons(FrameConvexPolygon2d firstPolygon,
                                                   FrameConvexPolygon2d secondPolygon)

combineDisjointPolygons

public static FrameConvexPolygon2dAndConnectingEdges combineDisjointPolygons(FrameConvexPolygon2d polygon1,
                                                                             FrameConvexPolygon2d polygon2)