Polygon2D class
#include <iDynTree/ConvexHullHelpers.h>
Class representing a 2D Polygon expressed in the 2D space.
Constructors, destructors, conversion operators
- Polygon2D()
- Default constructor: build an invalid polygon without any vertex.
Public functions
- void setNrOfVertices(size_t size)
- Set the number of vertices (the vertices can then be accessed with the operator()
- auto getNrOfVertices() const -> size_t
- Get the number of vertices in the Polygon.
- auto isValid() const -> bool
- Check if a polygon is valid.
- auto operator()(const size_t idx) -> Vector2&
- auto operator()(const size_t idx) const -> const Vector2&
Public variables
- std::vector<Vector2> m_vertices
Function documentation
size_t iDynTree::
Get the number of vertices in the Polygon.
| Returns | the number of vertices |
|---|
bool iDynTree::
Check if a polygon is valid.
| Returns | true if is valid, false otherwise. |
|---|
The condition for the validity of the polygon are: It has at least three points.