135 lines
4.9 KiB
C++
135 lines
4.9 KiB
C++
/**
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* @file SimPolygon2D.h
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* @brief Polygons for simulation use
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* @author Alex Cunningham
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*/
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#pragma once
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#include <map>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam_unstable/geometry/SimWall2D.h>
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#include <boost/random/linear_congruential.hpp>
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namespace gtsam {
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/**
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* General polygon class for convex polygons
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*/
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class GTSAM_UNSTABLE_EXPORT SimPolygon2D {
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protected:
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std::vector<Point2> landmarks_;
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static boost::minstd_rand rng;
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public:
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/** Don't use this constructor, use a named one instead */
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SimPolygon2D() {}
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/** seed the random number generator - only needs to be done once */
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static void seedGenerator(unsigned long seed);
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/** Named constructor for creating triangles */
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static SimPolygon2D createTriangle(const Point2& pA, const Point2& pB, const Point2& pC);
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/**
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* Named constructor for creating axis-aligned rectangles
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* @param p is the lower-left corner
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*/
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static SimPolygon2D createRectangle(const Point2& p, double height, double width);
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/**
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* Randomly generate a triangle that does not conflict with others
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* Uniformly distributed over box area, with normally distributed lengths of edges
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* THROWS: std::runtime_error if can't find a position
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*/
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static SimPolygon2D randomTriangle(double side_len, double mean_side_len, double sigma_side_len,
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double min_vertex_dist, double min_side_len, const std::vector<SimPolygon2D>& existing_polys);
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/**
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* Randomly generate a rectangle that does not conflict with others
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* Uniformly distributed over box area, with normally distributed lengths of edges
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* THROWS: std::runtime_error if can't find a position
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*/
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static SimPolygon2D randomRectangle(double side_len, double mean_side_len, double sigma_side_len,
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double min_vertex_dist, double min_side_len, const std::vector<SimPolygon2D>& existing_polys);
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// access to underlying points
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const Point2& landmark(size_t i) const { return landmarks_[i]; }
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size_t size() const { return landmarks_.size(); }
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const std::vector<Point2>& vertices() const { return landmarks_; }
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// testable requirements
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bool equals(const SimPolygon2D& p, double tol=1e-5) const;
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void print(const std::string& s="") const;
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/**
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* Get a set of walls along the edges
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*/
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std::vector<SimWall2D> walls() const;
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/**
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* Core function for randomly generating scenarios.
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* Polygons are closed, convex shapes.
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* @return true if the given point is contained by this polygon
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*/
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bool contains(const Point2& p) const;
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/**
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* Checks two polygons to determine if they overlap
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* @return true iff at least one vertex of one polygon is contained in the other
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*/
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bool overlaps(const SimPolygon2D& p) const;
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/** returns true iff p is contained in any of a set of polygons */
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static bool anyContains(const Point2& p, const std::vector<SimPolygon2D>& obstacles);
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/** returns true iff polygon p overlaps with any of a set of polygons */
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static bool anyOverlaps(const SimPolygon2D& p, const std::vector<SimPolygon2D>& obstacles);
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/** returns true iff p is inside a square centered at zero with side s */
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static bool insideBox(double s, const Point2& p);
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/** returns true iff p is within threshold of any point in S */
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static bool nearExisting(const std::vector<Point2>& S,
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const Point2& p, double threshold);
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/** pick a random point uniformly over a box of side s */
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static Point2 randomPoint2(double s);
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/** randomly generate a Rot2 with a uniform distribution over theta */
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static Rot2 randomAngle();
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/** generate a distance from a normal distribution given a mean and sigma */
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static double randomDistance(double mu, double sigma, double min_dist = -1.0);
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/** pick a random point within a box that is further than dist d away from existing landmarks */
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static Point2 randomBoundedPoint2(double boundary_size,
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const std::vector<Point2>& landmarks, double min_landmark_dist);
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/** pick a random point within a box that meets above requirements, as well as staying out of obstacles */
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static Point2 randomBoundedPoint2(double boundary_size,
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const std::vector<Point2>& landmarks,
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const std::vector<SimPolygon2D>& obstacles, double min_landmark_dist);
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/** pick a random point that only avoid obstacles */
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static Point2 randomBoundedPoint2(double boundary_size,
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const std::vector<SimPolygon2D>& obstacles);
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/** pick a random point in box defined by lower left and upper right corners */
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static Point2 randomBoundedPoint2(
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const Point2& LL_corner, const Point2& UR_corner,
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const std::vector<Point2>& landmarks,
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const std::vector<SimPolygon2D>& obstacles, double min_landmark_dist);
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/** pick a random pose in a bounded area that is not in an obstacle */
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static Pose2 randomFreePose(double boundary_size, const std::vector<SimPolygon2D>& obstacles);
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};
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typedef std::vector<SimPolygon2D> SimPolygon2DVector;
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typedef std::vector<Point2> Point2Vector;
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} //\namespace gtsam
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