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polygon.hpp
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polygon.hpp
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// Copyright (c) 2017 Alberto J. Tudela Roldán
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*
################################################################
# Ray-casting algorithm
#
# adapted from http://rosettacode.org/wiki/Ray-casting_algorithm
################################################################
*/
#ifndef SLG_MSGS__POLYGON_HPP_
#define SLG_MSGS__POLYGON_HPP_
#include <string>
#include <vector>
#include <algorithm>
#include <limits>
#include <numeric>
#include "geometry_msgs/msg/polygon.hpp"
#include "point2D.hpp"
const double epsilon = std::numeric_limits<float>().epsilon();
const std::numeric_limits<double> DOUBLE;
const double MIN = DOUBLE.min();
const double MAX = DOUBLE.max();
namespace slg
{
struct Edge
{
explicit Edge(
const Point2D & new_a = Point2D(0.0, 0.0),
const Point2D & new_b = Point2D(0.0, 0.0))
: a(new_a), b(new_b) {}
Edge(const Edge & e)
: a(e.a), b(e.b) {}
bool operator()(const Point2D & p) const
{
if (a.y > b.y) {return Edge(b, a)(p);}
if (p.y == a.y || p.y == b.y) {return operator()(Point2D(p.x, p.y + epsilon));}
if (p.y > b.y || p.y < a.y || p.x > std::max(a.x, b.x)) {return false;}
if (p.x < std::min(a.x, b.x)) {return true;}
auto blue = std::abs(a.x - p.x) > MIN ? (p.y - a.y) / (p.x - a.x) : MAX;
auto red = std::abs(a.x - b.x) > MIN ? (b.y - a.y) / (b.x - a.x) : MAX;
return blue >= red;
}
double distance(const Point2D & p)
{
Point2D difAB = b - a;
Point2D difPA = a - p;
return fabs(difAB.x * difPA.y - difAB.y * difPA.x) / difAB.length();
}
bool self() const
{
return a == b;
}
Edge & operator=(const Edge & e)
{
if (this != &e) {
this->a = e.a;
this->b = e.b;
}
return *this;
}
bool operator==(const Edge & e) const
{
return (a == e.a && b == e.b) || (a == e.b && b == e.a);
}
bool operator!=(const Edge & e) const
{
return !(*this == e);
}
friend std::ostream & operator<<(std::ostream & out, const Edge & e)
{
out << "[" << e.a << " -> " << e.b << "] ";
return out;
}
Point2D a, b;
};
class Polygon
{
public:
Polygon()
: name("") {}
Polygon(const Polygon & poly)
: name(poly.get_name()),
edges(poly.get_edges()) {}
explicit Polygon(const geometry_msgs::msg::Polygon & polygonMsg)
{
// Read n-1 points
for (unsigned int i = 0; i < polygonMsg.points.size() - 1; i++) {
Point2D a(polygonMsg.points[i]);
Point2D b(polygonMsg.points[i + 1]);
edges.push_back(Edge(a, b));
}
// Add the last edge
Point2D a(polygonMsg.points.back());
Point2D b(polygonMsg.points.front());
edges.push_back(Edge(a, b));
}
~Polygon() {}
int size() const {return edges.size();}
bool empty() const {return edges.empty();}
void clear() {edges.clear(); name.clear();}
std::string get_name() const {return name;}
void set_name(std::string new_name) {name = new_name;}
std::vector<Edge> get_edges() const {return edges;}
Edge get_edge(int e) const {return edges[e];}
void add_edge(Edge edge) {edges.push_back(edge);}
bool contains(const Point2D & p) const
{
auto c = 0;
for (auto e : edges) {if (e(p)) {c++;}}
return c % 2 != 0;
}
Point2D centroid() const
{
std::vector<Point2D> points;
for (const auto & edge : edges) {
points.push_back(edge.a);
}
Point2D sum = std::accumulate(points.begin(), points.end(), Point2D(0.0, 0.0));
return sum / points.size();
}
bool is_closed() const
{
return edges.front().a == edges.back().b;
}
void close()
{
if (!is_closed()) {
edges.push_back(Edge(edges.back().b, edges.front().a));
}
}
void add_point(const Point2D & p)
{
// If the polygon is empty, add the first edge as a self edge
if (edges.empty()) {
edges.push_back(Edge(p, p));
std::cout << "Empty polygon" << std::endl;
} else {
// If the last edge is a self edge, add a new point to it
if (edges.back().self()) {
std::cout << "Self edge" << std::endl;
edges.back().b = p;
std::cout << "Size: " << edges.size() << std::endl;
std::cout << "size poin" << get_points().size() << std::endl;
} else {
// If the polygon is closed, remove the last edge
if (is_closed()) {
edges.pop_back();
}
// Add the new point
edges.push_back(Edge(edges.back().b, p));
// Close the polygon
close();
}
}
}
std::vector<Point2D> get_points() const
{
std::vector<Point2D> points;
for (const auto & edge : edges) {
points.push_back(edge.a);
}
return points;
}
operator geometry_msgs::msg::Polygon()
{
geometry_msgs::msg::Polygon polygonMsg;
for (const auto & edge : edges) {
polygonMsg.points.push_back(edge.a);
}
return polygonMsg;
}
Polygon & operator=(const Polygon & poly)
{
if (this != &poly) {
this->name = poly.get_name();
this->edges = poly.get_edges();
}
return *this;
}
Polygon & operator=(const geometry_msgs::msg::Polygon & polygonMsg)
{
*this = Polygon(polygonMsg);
return *this;
}
bool operator==(const Polygon & poly) const
{
return name == poly.get_name() && edges == poly.get_edges();
}
bool operator!=(const Polygon & poly) const
{
return !(*this == poly);
}
friend std::ostream & operator<<(std::ostream & out, const Polygon & poly)
{
out << "Polygon: " << poly.get_name() << std::endl;
for (const auto & edge : poly.get_edges()) {
out << edge.a << " -> " << edge.b << std::endl;
}
return out;
}
private:
std::string name;
std::vector<Edge> edges;
};
} // namespace slg
#endif // SLG_MSGS__POLYGON_HPP_