Example #1
0
void gnuplot_print_polygon(std::ostream& out, const Polygon_2& P)
{
    int prec = out.precision();
    out << std::setprecision(pp_precision);
    Polygon_2::Vertex_const_iterator  vit;
    for (vit = P.vertices_begin(); vit != P.vertices_end(); ++vit)
        vit->insert(out) << std::endl;//" " << vit->z() << std::endl;
    P.vertices_begin()->insert(out) << std::endl;//" " << P.vertices_begin()->z() << std::endl;
    out.precision(prec);
}
Example #2
0
void print_ser(std::ostream& out, const Polygon_2& polygon, const string& component)
{
    out << "<Contour name=\"" << component << "\" hidden=\"true\" closed=\"true\" simplified=\"true\" border=\"0 1 0\" fill=\"0 1 0\" mode=\"9\"" << endl;
    out << "points=\"";

    // insert points here
    Polygon_2::Vertex_const_iterator  vit;
    for (vit = polygon.vertices_begin(); vit != polygon.vertices_end(); ++vit) {
        out << "\t" << vit->x() << " " << vit->y() << "," << std::endl;
    }

    out << "\t\"/>" << endl;
}
Example #3
0
void print_ser(std::ostream& out, const Slice& slice, Number_type thickness)
{
    list<string> components;
    slice.components(back_inserter(components));

    out << "<?xml version=\"1.0\"?>" << endl;
    out << "<!DOCTYPE Section SYSTEM \"section.dtd\">" << endl;
    out << endl;
    out << "<Section index=\"87\" thickness=\"" << thickness << "\" alignLocked=\"true\">" << endl;

    for (list<string>::const_iterator it = components.begin(); it != components.end(); ++it) {
        string component(*it);

        out << "<Transform dim=\"0\"" << endl;
        out << "xcoef=\" 0 1 0 0 0 0\"" << endl;
        out << "ycoef=\" 0 0 1 0 0 0\">" << endl;

        typedef Slice::Contour_const_iterator C_iter;
        for (C_iter c_it = slice.begin(component); c_it != slice.end(component); ++c_it) {
            Contour_handle contour = *c_it;
            const Polygon_2& polygon = contour->polygon();

            out << "<Contour name=\"" << component << "\" hidden=\"true\" closed=\"true\" simplified=\"true\" border=\"0 1 0\" fill=\"0 1 0\" mode=\"9\"" << endl;
            out << "points=\"";

            // insert points here
            Polygon_2::Vertex_const_iterator  vit;
            for (vit = polygon.vertices_begin(); vit != polygon.vertices_end(); ++vit) {
                out << "\t" << vit->x() << " " << vit->y() << "," << std::endl;
            }

            out << "\t\"/>" << endl;
        }
        out << "</Transform>" << endl;
        out << endl;
    }

    out << "</Section>" << endl;
    out << endl;
    out << endl;
}
Polygon_2 CollisionDetector::translate_polygon_to(const Polygon_2& poly, const Point_2& new_ref_pt) const
{
	m_translate_helper.resize(0);
	const Point_2 &ref = *poly.left_vertex();
	std::pair<double,double> diff(
	//Vector_2 diff(
		CGAL::to_double(ref.x().exact()) - CGAL::to_double(new_ref_pt.x().exact()), 
		CGAL::to_double(ref.y().exact()) - CGAL::to_double(new_ref_pt.y().exact())
	);

  	for (Polygon_2::Vertex_const_iterator it = poly.vertices_begin(), it_end = poly.vertices_end(); it != it_end; ++it)
  	{
		m_translate_helper.push_back( Point_2(CGAL::to_double(it->x()) + diff.first, CGAL::to_double(it->y()) + diff.second ) );
		//translated.push_back( (*it) + diff );
  	}



  	Polygon_2 new_poly(m_translate_helper.begin(),m_translate_helper.end());
  	return new_poly;
}
CollisionDetector::CollisionDetector(Polygon_2 robot1, Polygon_2 robot2, Obstacles* obs,double eps)
: approx_robot1(robot1)
, approx_robot2(robot2)
, m_obs(obs)
, m_translate_helper()
, m_minus_r1(flip(robot1))
, m_minus_r2(flip(robot2))
, m_epsilon(eps)
{
	Polygon_2 enlarger;
	int nOfEdges = 8;
	double radius = eps/2;
	double dAlpha = (360.0/nOfEdges)*CGAL_PI/180;
	for (int i = nOfEdges; i>0; i--) {
		double alpha = (i + 0.5)*dAlpha;
		double x = (radius/cos(dAlpha/2)) * cos(alpha) * 1.05;
		double y = (radius/cos(dAlpha/2)) * sin(alpha) * 1.05;
		enlarger.push_back(Point_2(x, y));
	}
	
	// Compute the Minkowski sum using the decomposition approach.
	CGAL::Small_side_angle_bisector_decomposition_2<Kernel>  ssab_decomp;

	Polygon_with_holes_2  pwh1 = minkowski_sum_2 (robot1, enlarger, ssab_decomp);
	Polygon_with_holes_2  pwh2 = minkowski_sum_2 (robot2, enlarger, ssab_decomp);
		
	approx_robot1 = pwh1.outer_boundary();
	approx_robot2 = pwh2.outer_boundary();

	Polygon_with_holes_2  pwhF1 = minkowski_sum_2 (m_minus_r1, enlarger, ssab_decomp);
	Polygon_with_holes_2  pwhF2 = minkowski_sum_2 (m_minus_r2, enlarger, ssab_decomp);

	m_minus_r1_en = pwhF1.outer_boundary();
	m_minus_r2_en = pwhF2.outer_boundary();


	Polygon_set_2 ps;
	if (!m_obs->empty())
	{
		for (Obstacles::iterator Oiter = m_obs->begin(); Oiter != m_obs->end(); Oiter++)
		{		
			  // For every obstacle calculate its Minkowski sum with a "robot"
			Polygon_with_holes_2  poly_wh1 = minkowski_sum_2 (*Oiter, m_minus_r1_en, ssab_decomp);		
			Polygon_with_holes_2  poly_wh2 = minkowski_sum_2 (*Oiter, m_minus_r2_en, ssab_decomp);		
			// Add the result to the polygon set
			m_r1_poly_set.join(poly_wh1);
			m_r2_poly_set.join(poly_wh2);
		}
	}
	
	Polygon_with_holes_2  r1_r2 = minkowski_sum_2 (approx_robot1, m_minus_r2_en, ssab_decomp);
	Polygon_2 for_print = r1_r2.outer_boundary();
	for(Polygon_2::Vertex_const_iterator it = for_print.vertices_begin(); it != for_print.vertices_end(); ++it)
	{
		std::cout << "(" << it->x() << "," << it->y() << "),";
	}
	std::cout << std::endl;

	m_r1_min_r2.join(r1_r2);
	
	Polygon_with_holes_2  r2_r1 = minkowski_sum_2 (approx_robot2, m_minus_r1_en, ssab_decomp);
	m_r2_min_r1.join(r2_r1);
}