polygon.h

// clang: TomasFormat
#ifndef MRS_LIB_POLYGON_H
#define MRS_LIB_POLYGON_H
 
#include <ros/ros.h>
#include <eigen3/Eigen/Eigen>
#include <vector>
#include <geometry_msgs/Point.h>
#include <mrs_lib/safety_zone/line_operations.h>
 
namespace mrs_lib
{
class Polygon {
public:
  Polygon(const Eigen::MatrixXd vertices);
 
  bool isPointInside(const double px, const double py);
  bool doesSectionIntersect(const double startX, const double startY, const double endX, const double endY);
  bool isClockwise();
  void inflateSelf(double amount);
 
  std::vector<geometry_msgs::Point> getPointMessageVector(const double z);
 
private:
  Eigen::MatrixXd vertices;
 
public:
  // exceptions
  struct WrongNumberOfVertices : public std::exception
  {
    const char* what() const throw() {
      return "Polygon: wrong number of vertices was supplied!";
    }
  };
 
  struct WrongNumberOfColumns : public std::exception
  {
    const char* what() const throw() {
      return "Polygon: wrong number of colums, it should be =2!";
    }
  };
 
  struct ExtraVertices : public std::exception
  {
    const char* what() const throw() {
      return "Polygon: useless vertices detected, polygon methods may break!";
    }
  };
};
}  // namespace mrs_lib
 
#endif  // MRS_LIB_POLYGON_H