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Bugfix for polygon with 0 vertices #229

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Bugfix for polygon with 0 vertices #229

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16494f3
Bugfix for polygon with 0 vertices
jpaczia May 24, 2020
6347ffa
Interpolation for convex hull of polygons
jpaczia Jul 30, 2020
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6 changes: 6 additions & 0 deletions grid_map_core/include/grid_map_core/Polygon.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,10 @@
* Institute: ETH Zurich, ANYbotics
*/


#define _USE_MATH_DEFINES
#include <cmath>

#pragma once

#include <grid_map_core/TypeDefs.hpp>
Expand Down Expand Up @@ -210,6 +214,8 @@ class Polygon
*/
static Polygon monotoneChainConvexHullOfPoints(const std::vector<Position>& points);

const std::vector<Position> getInterpolatedConvexHull(const double stepSize);

protected:

/*!
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29 changes: 29 additions & 0 deletions grid_map_core/src/Polygon.cpp
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Expand Up @@ -351,4 +351,33 @@ double Polygon::vectorsMakeClockwiseTurn(const Eigen::Vector2d &pointOrigin,
return computeCrossProduct2D(pointA - pointOrigin, pointB - pointOrigin) <= 0;
}

const std::vector<Position> Polygon::getInterpolatedConvexHull(const double stepSize) {
std::vector<Position> result;
Polygon hull = monotoneChainConvexHullOfPoints(this->getVertices());

for (int curIdx = 0; curIdx < hull.nVertices(); curIdx++){
int nextIdx = curIdx < hull.nVertices() -1 ? curIdx + 1 : 0;

Position curPos = hull.getVertex(curIdx);
Position nextPos = hull.getVertex(nextIdx);

Position diff = nextPos - curPos;
double diffDistance = diff.norm();
int steps = std::max(1, (int) ceil(diffDistance / stepSize));
Position direction(
diff[0] / steps,
diff[1] / steps
);

result.push_back(curPos);
for (int i = 0; i < steps; i++) {
double factor = ((double) i) / steps;
Position tmp = curPos + factor * diff;
result.push_back(tmp);
}
}

return result;
}

} /* namespace grid_map */
27 changes: 16 additions & 11 deletions grid_map_core/src/iterators/PolygonIterator.cpp
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Expand Up @@ -76,18 +76,23 @@ bool PolygonIterator::isInside() const

void PolygonIterator::findSubmapParameters(const grid_map::Polygon& polygon, Index& startIndex, Size& bufferSize) const
{
Position topLeft = polygon_.getVertices()[0];
Position bottomRight = topLeft;
for (const auto& vertex : polygon_.getVertices()) {
topLeft = topLeft.array().max(vertex.array());
bottomRight = bottomRight.array().min(vertex.array());
startIndex = Index(0, 0);
bufferSize = Size(0, 0);

if (polygon_.getVertices().size() > 0) {
Position topLeft = polygon_.getVertices()[0];
Position bottomRight = topLeft;
for (const auto& vertex : polygon_.getVertices()) {
topLeft = topLeft.array().max(vertex.array());
bottomRight = bottomRight.array().min(vertex.array());
}
boundPositionToRange(topLeft, mapLength_, mapPosition_);
boundPositionToRange(bottomRight, mapLength_, mapPosition_);
getIndexFromPosition(startIndex, topLeft, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_);
Index endIndex;
getIndexFromPosition(endIndex, bottomRight, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_);
bufferSize = getSubmapSizeFromCornerIndeces(startIndex, endIndex, bufferSize_, bufferStartIndex_);
}
boundPositionToRange(topLeft, mapLength_, mapPosition_);
boundPositionToRange(bottomRight, mapLength_, mapPosition_);
getIndexFromPosition(startIndex, topLeft, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_);
Index endIndex;
getIndexFromPosition(endIndex, bottomRight, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_);
bufferSize = getSubmapSizeFromCornerIndeces(startIndex, endIndex, bufferSize_, bufferStartIndex_);
}

} /* namespace grid_map */
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