The class of polygon in 2-D. More...

#include <polygon2d.h>

Inheritance diagram for apollo::common::math::Polygon2d:

Collaboration diagram for apollo::common::math::Polygon2d:

Public Member Functions
	Polygon2d ()=default
	Empty constructor. More...

	Polygon2d (const Box2d &box)
	Constructor which takes a box. More...

	Polygon2d (std::vector< Vec2d > points)
	Constructor which takes a vector of points as its vertices. More...

const std::vector< Vec2d > &	points () const
	Get the vertices of the polygon. More...

const std::vector< LineSegment2d > &	line_segments () const
	Get the edges of the polygon. More...

int	num_points () const
	Get the number of vertices of the polygon. More...

bool	is_convex () const
	Check if the polygon is convex. More...

double	area () const
	Get the area of the polygon. More...

double	DistanceToBoundary (const Vec2d &point) const
	Compute the distance from a point to the boundary of the polygon. This distance is equal to the minimal distance from the point to the edges of the polygon. More...

double	DistanceTo (const Vec2d &point) const
	Compute the distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this distance is the minimal distance from the point to the edges of the polygon. More...

double	DistanceTo (const LineSegment2d &line_segment) const
	Compute the distance from a line segment to the polygon. If the line segment is within the polygon, or it has intersect with the polygon, return 0. Otherwise, this distance is the minimal distance between the distances from the two ends of the line segment to the polygon. More...

double	DistanceTo (const Box2d &box) const
	Compute the distance from a box to the polygon. If the box is within the polygon, or it has overlap with the polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the box to the polygon. More...

double	DistanceTo (const Polygon2d &polygon) const
	Compute the distance from another polygon to the polygon. If the other polygon is within this polygon, or it has overlap with this polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the other polygon to this polygon. More...

double	DistanceSquareTo (const Vec2d &point) const
	Compute the square of distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this square of distance is the minimal square of distance from the point to the edges of the polygon. More...

bool	IsPointIn (const Vec2d &point) const
	Check if a point is within the polygon. More...

bool	IsPointOnBoundary (const Vec2d &point) const
	Check if a point is on the boundary of the polygon. More...

bool	Contains (const LineSegment2d &line_segment) const
	Check if the polygon contains a line segment. More...

bool	Contains (const Polygon2d &polygon) const
	Check if the polygon contains another polygon. More...

bool	HasOverlap (const LineSegment2d &line_segment) const
	Check if a line segment has overlap with this polygon. More...

bool	GetOverlap (const LineSegment2d &line_segment, Vec2d const first, Vec2d const last) const
	Get the overlap of a line segment and this polygon. If they have overlap, output the two ends of the overlapped line segment. More...

void	GetAllVertices (std::vector< Vec2d > *const vertices) const
	Get all vertices of the polygon. More...

std::vector< Vec2d >	GetAllVertices () const
	Get all vertices of the polygon. More...

std::vector< LineSegment2d >	GetAllOverlaps (const LineSegment2d &line_segment) const
	Get all overlapped line segments of a line segment and this polygon. There are possibly multiple overlapped line segments if this polygon is not convex. More...

bool	HasOverlap (const Polygon2d &polygon) const
	Check if this polygon has overlap with another polygon. More...

bool	ComputeOverlap (const Polygon2d &other_polygon, Polygon2d *const overlap_polygon) const
	Compute the overlap of this polygon and the other polygon if any. Note: this function only works for computing overlap between two convex polygons. More...

double	ComputeIoU (const Polygon2d &other_polygon) const
	Compute intersection over union ratio of this polygon and the other polygon. Note: this function only works for computing overlap between two convex polygons. More...

AABox2d	AABoundingBox () const
	Get the axis-aligned bound box of the polygon. More...

Box2d	BoundingBoxWithHeading (const double heading) const
	Get the bound box according to a heading. More...

Box2d	MinAreaBoundingBox () const
	Get the bounding box with the minimal area. More...

void	ExtremePoints (const double heading, Vec2d const first, Vec2d const last) const
	Get the extreme points along a heading direction. More...

Polygon2d	ExpandByDistance (const double distance) const
	Expand this polygon by a distance. More...

std::string	DebugString () const
	Get a string containing essential information about the polygon for debugging purpose. More...

double	min_x () const

double	max_x () const

double	min_y () const

double	max_y () const

Static Public Member Functions
static bool	ComputeConvexHull (const std::vector< Vec2d > &points, Polygon2d *const polygon)
	Compute the convex hull of a group of points. More...

Protected Member Functions
void	BuildFromPoints ()

int	Next (int at) const

int	Prev (int at) const

Static Protected Member Functions
static bool	ClipConvexHull (const LineSegment2d &line_segment, std::vector< Vec2d > *const points)

Protected Attributes
std::vector< Vec2d >	points_

int	num_points_ = 0

std::vector< LineSegment2d >	line_segments_

bool	is_convex_ = false

double	area_ = 0.0

double	min_x_ = 0.0

double	max_x_ = 0.0

double	min_y_ = 0.0

double	max_y_ = 0.0

Detailed Description

The class of polygon in 2-D.

Constructor & Destructor Documentation

◆ Polygon2d() [1/3]

apollo::common::math::Polygon2d::Polygon2d ( )

default

Empty constructor.

◆ Polygon2d() [2/3]

apollo::common::math::Polygon2d::Polygon2d ( const Box2d & box )

explicit

Constructor which takes a box.

Parameters

box	The box to construct the polygon.

◆ Polygon2d() [3/3]

apollo::common::math::Polygon2d::Polygon2d ( std::vector< Vec2d > points )

explicit

Constructor which takes a vector of points as its vertices.

Parameters

points The points to construct the polygon.

Member Function Documentation

◆ AABoundingBox()

AABox2d apollo::common::math::Polygon2d::AABoundingBox ( ) const

Get the axis-aligned bound box of the polygon.

Returns: The axis-aligned bound box of the polygon.

◆ area()

double apollo::common::math::Polygon2d::area ( ) const

inline

Get the area of the polygon.

Returns: The area of the polygon.

◆ BoundingBoxWithHeading()

Box2d apollo::common::math::Polygon2d::BoundingBoxWithHeading ( const double heading ) const

Get the bound box according to a heading.

Parameters

heading The specified heading of the bounding box.

Returns: The bound box according to the specified heading.

◆ BuildFromPoints()

void apollo::common::math::Polygon2d::BuildFromPoints ( )

protected

◆ ClipConvexHull()

static bool apollo::common::math::Polygon2d::ClipConvexHull	(	const LineSegment2d &	line_segment,
		std::vector< Vec2d > *const	points
	)

staticprotected

◆ ComputeConvexHull()

static bool apollo::common::math::Polygon2d::ComputeConvexHull	(	const std::vector< Vec2d > &	points,
		Polygon2d *const	polygon
	)

static

Compute the convex hull of a group of points.

Parameters

points	The target points. To compute the convex hull of them.
polygon	The convex hull of the points.

Returns: If successfully compute the convex hull.

◆ ComputeIoU()

double apollo::common::math::Polygon2d::ComputeIoU ( const Polygon2d & other_polygon ) const

Compute intersection over union ratio of this polygon and the other polygon. Note: this function only works for computing overlap between two convex polygons.

Parameters

other_polygon The target polygon. To compute its overlap with this polygon.

Returns: A value between 0.0 and 1.0, meaning no intersection to fully overlaping

◆ ComputeOverlap()

bool apollo::common::math::Polygon2d::ComputeOverlap	(	const Polygon2d &	other_polygon,
		Polygon2d *const	overlap_polygon
	)		const

Compute the overlap of this polygon and the other polygon if any. Note: this function only works for computing overlap between two convex polygons.

Parameters

other_polygon	The target polygon. To compute its overlap with this polygon.
overlap_polygon	The overlapped polygon.
If	there is an overlapped polygon.

◆ Contains() [1/2]

bool apollo::common::math::Polygon2d::Contains ( const LineSegment2d & line_segment ) const

Check if the polygon contains a line segment.

Parameters

line_segment The target line segment. To check if the polygon contains it.

Returns: Whether the polygon contains the line segment or not.

◆ Contains() [2/2]

bool apollo::common::math::Polygon2d::Contains ( const Polygon2d & polygon ) const

Check if the polygon contains another polygon.

Parameters

polygon The target polygon. To check if this polygon contains it.

Returns: Whether this polygon contains another polygon or not.

◆ DebugString()

std::string apollo::common::math::Polygon2d::DebugString ( ) const

Get a string containing essential information about the polygon for debugging purpose.

Returns: Essential information about the polygon for debugging purpose.

◆ DistanceSquareTo()

double apollo::common::math::Polygon2d::DistanceSquareTo ( const Vec2d & point ) const

Compute the square of distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this square of distance is the minimal square of distance from the point to the edges of the polygon.

Parameters

point The point to compute whose square of distance to the polygon.

Returns: The square of distance from the point to the polygon.

◆ DistanceTo() [1/4]

double apollo::common::math::Polygon2d::DistanceTo ( const Vec2d & point ) const

Compute the distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this distance is the minimal distance from the point to the edges of the polygon.

Parameters

point The point to compute whose distance to the polygon.

Returns: The distance from the point to the polygon.

◆ DistanceTo() [2/4]

double apollo::common::math::Polygon2d::DistanceTo ( const LineSegment2d & line_segment ) const

Compute the distance from a line segment to the polygon. If the line segment is within the polygon, or it has intersect with the polygon, return 0. Otherwise, this distance is the minimal distance between the distances from the two ends of the line segment to the polygon.

Parameters

line_segment The line segment to compute whose distance to the polygon.

Returns: The distance from the line segment to the polygon.

◆ DistanceTo() [3/4]

double apollo::common::math::Polygon2d::DistanceTo ( const Box2d & box ) const

Compute the distance from a box to the polygon. If the box is within the polygon, or it has overlap with the polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the box to the polygon.

Parameters

box	The box to compute whose distance to the polygon.

Returns: The distance from the box to the polygon.

◆ DistanceTo() [4/4]

double apollo::common::math::Polygon2d::DistanceTo ( const Polygon2d & polygon ) const

Compute the distance from another polygon to the polygon. If the other polygon is within this polygon, or it has overlap with this polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the other polygon to this polygon.

Parameters

polygon The polygon to compute whose distance to this polygon.

Returns: The distance from the other polygon to this polygon.

◆ DistanceToBoundary()

double apollo::common::math::Polygon2d::DistanceToBoundary ( const Vec2d & point ) const

Compute the distance from a point to the boundary of the polygon. This distance is equal to the minimal distance from the point to the edges of the polygon.

Parameters

point The point to compute whose distance to the polygon.

Returns: The distance from the point to the polygon's boundary.

◆ ExpandByDistance()

Polygon2d apollo::common::math::Polygon2d::ExpandByDistance ( const double distance ) const

Expand this polygon by a distance.

Parameters

distance The specified distance. To expand this polygon by it.

Returns: The polygon after expansion.

◆ ExtremePoints()

void apollo::common::math::Polygon2d::ExtremePoints	(	const double	heading,
		Vec2d *const	first,
		Vec2d *const	last
	)		const

Get the extreme points along a heading direction.

Parameters

heading	The specified heading.
first	The point on the boundary of this polygon with the minimal projection onto the heading direction.
last	The point on the boundary of this polygon with the maximal projection onto the heading direction.

◆ GetAllOverlaps()

std::vector<LineSegment2d> apollo::common::math::Polygon2d::GetAllOverlaps ( const LineSegment2d & line_segment ) const

Get all overlapped line segments of a line segment and this polygon. There are possibly multiple overlapped line segments if this polygon is not convex.

Parameters

line_segment The target line segment. To get its all overlapped line segments with this polygon.

Returns: A group of overlapped line segments.

◆ GetAllVertices() [1/2]

void apollo::common::math::Polygon2d::GetAllVertices ( std::vector< Vec2d > *const vertices ) const

Get all vertices of the polygon.

Parameters

All	vertices of the polygon

◆ GetAllVertices() [2/2]

std::vector<Vec2d> apollo::common::math::Polygon2d::GetAllVertices ( ) const

Get all vertices of the polygon.

◆ GetOverlap()

bool apollo::common::math::Polygon2d::GetOverlap	(	const LineSegment2d &	line_segment,
		Vec2d *const	first,
		Vec2d *const	last
	)		const

Get the overlap of a line segment and this polygon. If they have overlap, output the two ends of the overlapped line segment.

Parameters

line_segment	The target line segment. To get its overlap with this polygon.
first	First end of the overlapped line segment.
second	Second end of the overlapped line segment.

Returns: If the target line segment has overlap with this polygon.

◆ HasOverlap() [1/2]

bool apollo::common::math::Polygon2d::HasOverlap ( const LineSegment2d & line_segment ) const

Check if a line segment has overlap with this polygon.

Parameters

line_segment The target line segment. To check if it has overlap with this polygon.

Returns: Whether the target line segment has overlap with this polygon or not.

◆ HasOverlap() [2/2]

bool apollo::common::math::Polygon2d::HasOverlap ( const Polygon2d & polygon ) const

Check if this polygon has overlap with another polygon.

Parameters

polygon The target polygon. To check if it has overlap with this polygon.

Returns: If this polygon has overlap with another polygon.

◆ is_convex()

bool apollo::common::math::Polygon2d::is_convex ( ) const

inline

Check if the polygon is convex.

Returns: Whether the polygon is convex or not.

◆ IsPointIn()

bool apollo::common::math::Polygon2d::IsPointIn ( const Vec2d & point ) const

Check if a point is within the polygon.

Parameters

point The target point. To check if it is within the polygon.

Returns: Whether a point is within the polygon or not.

◆ IsPointOnBoundary()

bool apollo::common::math::Polygon2d::IsPointOnBoundary ( const Vec2d & point ) const

Check if a point is on the boundary of the polygon.

Parameters

point The target point. To check if it is on the boundary of the polygon.

Returns: Whether a point is on the boundary of the polygon or not.

◆ line_segments()

const std::vector<LineSegment2d>& apollo::common::math::Polygon2d::line_segments ( ) const

inline

Get the edges of the polygon.

Returns: The edges of the polygon.

◆ max_x()

double apollo::common::math::Polygon2d::max_x ( ) const

inline

◆ max_y()

double apollo::common::math::Polygon2d::max_y ( ) const

inline

◆ min_x()

double apollo::common::math::Polygon2d::min_x ( ) const

inline

◆ min_y()

double apollo::common::math::Polygon2d::min_y ( ) const

inline

◆ MinAreaBoundingBox()

Box2d apollo::common::math::Polygon2d::MinAreaBoundingBox ( ) const

Get the bounding box with the minimal area.

Returns: The bounding box with the minimal area.

◆ Next()

int apollo::common::math::Polygon2d::Next ( int at ) const

protected

◆ num_points()

int apollo::common::math::Polygon2d::num_points ( ) const

inline

Get the number of vertices of the polygon.

Returns: The number of vertices of the polygon.

◆ points()

const std::vector<Vec2d>& apollo::common::math::Polygon2d::points ( ) const

inline

Get the vertices of the polygon.

Returns: The vertices of the polygon.

◆ Prev()

int apollo::common::math::Polygon2d::Prev ( int at ) const

protected

Member Data Documentation

◆ area_

double apollo::common::math::Polygon2d::area_ = 0.0

protected

◆ is_convex_

bool apollo::common::math::Polygon2d::is_convex_ = false

protected

◆ line_segments_

std::vector<LineSegment2d> apollo::common::math::Polygon2d::line_segments_

protected

◆ max_x_

double apollo::common::math::Polygon2d::max_x_ = 0.0

protected

◆ max_y_

double apollo::common::math::Polygon2d::max_y_ = 0.0

protected

◆ min_x_

double apollo::common::math::Polygon2d::min_x_ = 0.0

protected

◆ min_y_

double apollo::common::math::Polygon2d::min_y_ = 0.0

protected

◆ num_points_

int apollo::common::math::Polygon2d::num_points_ = 0

protected

◆ points_

std::vector<Vec2d> apollo::common::math::Polygon2d::points_

protected

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

modules/common/math/polygon2d.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Polygon2d() [1/3]

◆ Polygon2d() [2/3]

◆ Polygon2d() [3/3]

Member Function Documentation

◆ AABoundingBox()

◆ area()

◆ BoundingBoxWithHeading()

◆ BuildFromPoints()

◆ ClipConvexHull()

◆ ComputeConvexHull()

◆ ComputeIoU()

◆ ComputeOverlap()

◆ Contains() [1/2]

◆ Contains() [2/2]

◆ DebugString()

◆ DistanceSquareTo()

◆ DistanceTo() [1/4]

◆ DistanceTo() [2/4]

◆ DistanceTo() [3/4]

◆ DistanceTo() [4/4]

◆ DistanceToBoundary()

◆ ExpandByDistance()

◆ ExtremePoints()

◆ GetAllOverlaps()

◆ GetAllVertices() [1/2]

◆ GetAllVertices() [2/2]

◆ GetOverlap()

◆ HasOverlap() [1/2]

◆ HasOverlap() [2/2]

◆ is_convex()

◆ IsPointIn()

◆ IsPointOnBoundary()

◆ line_segments()

◆ max_x()

◆ max_y()

◆ min_x()

◆ min_y()

◆ MinAreaBoundingBox()

◆ Next()

◆ num_points()

◆ points()

◆ Prev()

Member Data Documentation

◆ area_

◆ is_convex_

◆ line_segments_

◆ max_x_

◆ max_y_

◆ min_x_

◆ min_y_

◆ num_points_

◆ points_