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java.lang.Objectus.ihmc.utilities.math.geometry.FrameConvexPolygon2d
public class FrameConvexPolygon2d
Title:
Description:
Copyright: Copyright (c) 2007
Company:
Constructor Summary | |
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FrameConvexPolygon2d(java.util.Collection<FramePoint2d> framePointList)
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FrameConvexPolygon2d(FrameConvexPolygon2d frameConvexPolygon2d)
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FrameConvexPolygon2d(ReferenceFrame referenceFrame,
ConvexPolygon2d convexPolygon2d)
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FrameConvexPolygon2d(ReferenceFrame referenceFrame,
double[][] pointList)
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FrameConvexPolygon2d(ReferenceFrame referenceFrame,
java.util.List<javax.vecmath.Point2d> pointList)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public FrameConvexPolygon2d(ReferenceFrame referenceFrame, ConvexPolygon2d convexPolygon2d)
public FrameConvexPolygon2d(ReferenceFrame referenceFrame, java.util.List<javax.vecmath.Point2d> pointList)
public FrameConvexPolygon2d(ReferenceFrame referenceFrame, double[][] pointList)
public FrameConvexPolygon2d(java.util.Collection<FramePoint2d> framePointList)
public FrameConvexPolygon2d(FrameConvexPolygon2d frameConvexPolygon2d)
Method Detail |
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public ConvexPolygon2d getConvexPolygon2dCopy()
public double getArea()
public void getCentroid(FramePoint2d centroid)
public FramePoint2d getCentroidCopy()
public int getNumberOfVertices()
public ConvexPolygon2d getConvexPolygon2d()
public java.util.ArrayList<FramePoint2d> getClockwiseOrderedListOfFramePoints()
public BoundingBox2d getBoundingBox()
public boolean isPointInside(FramePoint2d framePoint)
public boolean isPointInside(FramePoint2d framePoint, double epsilon)
framePoint
- FramePoint2d the point to be tested
public boolean areAllPointsInside(FramePoint2d[] framePoints)
framePoints
- FramePoint2d[]
public FrameLine2d[] getLinesOfSight(FramePoint2d observerFramePoint)
public java.util.ArrayList<FramePoint2d> getAllVisibleVerticesFromOutsideLeftToRight(FramePoint2d observerFramePoint)
observerFramePoint
- Point2d
public FramePoint2d[] getLineOfSightVertices(FramePoint2d observerFramePoint)
public FrameLineSegment2d[] getAroundTheCornerEdges(FramePoint2d observerFramePoint)
observerFramePoint
- FramePoint2d marking the point of observation of this ConvexPolygon2d.
public FrameLineSegment2d[] getLineSegmentsOfSight(FramePoint2d observerFramePoint)
public FrameLineSegment2d[] getIntersectingEdges(FrameLine2d frameLine2d)
frameLine2d
- FrameLine2d Ray to check intersection with this Polygon.
public double[] distanceToEachVertex(FramePoint2d point)
public FramePoint2d getClosestVertexCopy(FramePoint2d point)
public FramePoint2d getClosestVertexCopy(FrameLine2d line)
public double distanceToClosestVertex(FramePoint2d point)
public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
checkReferenceFrameMatch
in interface ReferenceFrameHolder
public void checkReferenceFrameMatch(ReferenceFrame frame) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public ReferenceFrame getReferenceFrame()
getReferenceFrame
in interface ReferenceFrameHolder
public FrameConvexPolygon2d changeFrameAndProjectToXYPlaneCopy(ReferenceFrame desiredFrame)
public FrameConvexPolygon2d changeFrameCopy(ReferenceFrame desiredFrame)
changeFrameCopy
in interface ReferenceFrameHolder
public FrameConvexPolygon2d applyTransformCopy(javax.media.j3d.Transform3D transform, ReferenceFrame newFrame, boolean requirePlanarTransform)
transform
- Transform3DnewFrame
- ReferenceFramerequirePlanarTransform
- boolean
public java.lang.String toString()
toString
in class java.lang.Object
public FrameLineSegment2d[] getNearestEdges(FramePoint2d testPoint)
public void orthogonalProjection(FramePoint2d point)
orthogonalProjection
in interface FrameGeometry2d
public FramePoint2d orthogonalProjectionCopy(FramePoint2d point)
orthogonalProjectionCopy
in interface FrameGeometry2d
public FramePoint2d[] intersectionWith(FrameLine2d line)
intersectionWith
in interface FrameGeometry2d
public FramePoint2d[] intersectionWithRay(FrameLine2d ray)
public FramePoint2d[] intersectionWith(FrameLineSegment2d lineSegment)
intersectionWith
in interface FrameGeometry2d
public FrameConvexPolygon2d intersectionWith(FrameConvexPolygon2d secondConvexPolygon)
intersectionWith
in interface FrameGeometry2d
public double distance(FramePoint2d point)
distance
in interface FrameGeometry2d
public FrameLineSegment2d getClosestEdge(FramePoint2d point)
public double distance(FrameLine2d line)
distance
in interface FrameGeometry2d
public double distance(FrameLineSegment2d lineSegment)
distance
in interface FrameGeometry2d
public double distance(FrameConvexPolygon2d secondConvexPolygon)
distance
in interface FrameGeometry2d
public FramePoint2d minXMaxYPointCopy()
public FramePoint2d minXMinYPointCopy()
public FramePoint2d maxXMaxYPointCopy()
public FramePoint2d maxXMinYPointCopy()
public double perimeter()
public FramePoint2d pointOnPerimeterGivenParameter(double parameter)
public void pullPointTowardsCentroid(FramePoint2d point, double percent)
public FramePoint2d pullTowardsCentroidCopy(FramePoint2d point, double percent)
public static FrameConvexPolygon2d shrinkConstantDistanceInto(double distance, FrameConvexPolygon2d polygonQ)
public FrameConvexPolygon2d combineWith(FrameConvexPolygon2d secondPolygon)
secondPolygon
- ConvexPolygon2d
public static FrameConvexPolygon2dAndConnectingEdges combineDisjointPolygons(FrameConvexPolygon2d polygon1, FrameConvexPolygon2d polygon2)
public FramePoint2d getMeanPointCopy()
public static FrameConvexPolygon2d constructByProjectionOntoXYPlane(java.util.List<FramePoint> points, ReferenceFrame frame)
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