autoware::motion::planning::parking_planner::Polytope2D< T > Class Template Reference

Class describing a polytope in two-dimensional space. More...

#include <geometry.hpp>

Public Member Functions
	Polytope2D (const std::vector< Point2D< T >> &vertices) noexcept
	Construct a polyhedron. More...
void	rotate_and_shift (const T rotation_angle, const Point2D< T > &rotation_center, const Point2D< T > &shift_vector)
	Rotate and shift the polytope. More...
bool	contains_point (const Point2D< T > &point) const noexcept
	Check if polytope contains a point. More...
bool	intersects_with (const Polytope2D< T > &other) const noexcept
	Check if polytope intersects with another. More...
const std::vector< Halfplane2D< T > > &	get_halfplanes () const noexcept
	Getter for halfplanes. More...
const std::vector< Point2D< T > > &	get_vertices () const noexcept
	Getter for vertices. More...

Detailed Description

template<typename T>
class autoware::motion::planning::parking_planner::Polytope2D< T >

Class describing a polytope in two-dimensional space.

Constructor & Destructor Documentation

Polytope2D()

template<typename T >

autoware::motion::planning::parking_planner::Polytope2D< T >::Polytope2D ( const std::vector< Point2D< T >> &  vertices )

inlineexplicitnoexcept

Construct a polyhedron.

Parameters

[in]

vertices

vector of vertices, assumed to be "ordered anti-clockwise" with respect to their "center of mass"

Member Function Documentation

contains_point()

template<typename T >

bool autoware::motion::planning::parking_planner::Polytope2D< T >::contains_point ( const Point2D< T > &  point ) const

inlinenoexcept

Check if polytope contains a point.

get_halfplanes()

template<typename T >

const std::vector<Halfplane2D<T> >& autoware::motion::planning::parking_planner::Polytope2D< T >::get_halfplanes ( ) const

inlinenoexcept

Getter for halfplanes.

get_vertices()

template<typename T >

const std::vector<Point2D<T> >& autoware::motion::planning::parking_planner::Polytope2D< T >::get_vertices ( ) const

inlinenoexcept

Getter for vertices.

intersects_with()

template<typename T >

bool autoware::motion::planning::parking_planner::Polytope2D< T >::intersects_with ( const Polytope2D< T > &  other ) const

inlinenoexcept

Check if polytope intersects with another.

rotate_and_shift()

template<typename T >

void autoware::motion::planning::parking_planner::Polytope2D< T >::rotate_and_shift ( const T  rotation_angle, const Point2D< T > &  rotation_center, const Point2D< T > &  shift_vector  )

inline

Rotate and shift the polytope.

---

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

• geometry.hpp