GeoPolygon (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.geography.GeoArea
- - planner.geography.GeoPolygon

Direct Known Subclasses:

GeoRectangle
```
public class GeoPolygon
extends GeoArea
```
Class for representing a polygonal geographic area for planner use

Author:

dtdavis

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`GeoPolygon()` Creates a new instance of GeoPolygogn, but does not assign any values
	`GeoPolygon(List<double[]> points)` Creates a new instance of GeoPolygon

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`List<double[]>`	`boundingBox()` Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoPolygon
`double`	`boundingCircleRadius()` Returns the radius of a circle (centered at the area centroid) that encloses the area
`double[]`	`closestPoint(double[] point)` Returns the vertex of the polygon that is closest to the parameter point NOTE: This method provides the closest VERTEX, not the closest arbitrary point on the polygon
`boolean`	`contains(double[] point)` Returns true if the point defined by the parameter is inside the GeoPolygon
`AreaElementType`	`convertToAreaElementType()` Converts the GeoCircle to an AVCL area object
`List<double[]>`	`getAdjacentVertices(int index)` Returns an array list with the locations of the vertices adjacent to a specified vertex Will return null if the specified index is less than zero or greater than the total vertices
`double`	`getArea()` Returns the area (square meters) of the GeoPolygon
`double[]`	`getCentroid()` Returns a double[2] with the (x, y) position of the area's centroid
`double[]`	`getIntersection(double[] point1, double[] point2)` Determines the closest point of intersection between the region and a line (defined with 2 points) If the line is tangent to the polygon, null will be returned (no intersection)
`double[]`	`getSegmentIntersection(double[] point1, double[] point2)` Determines the closest point of intersection between the region and a line segment If the line is tangent to the polygon, null will be returned (no intersection)
`double[]`	`getSegmentIntersection2(double[] point1, double[] point2)` Determines the closest point of intersection between the region and a line segment If the line is tangent to the polygon, null will be returned (no intersection) If the startpoint of the segment is in the area and the segment proceeds further into the area, then the start will not be returned as the intersection, but the next intersection will (effectively, if point1 is in the area, the nearest intersection where the segment leaves the area will be returned)
`ArrayList<double[]>`	`getTangents(double[] start)` Determines the points on the area's edge that are tangentially reachable from a specified point
`double[]`	`getVertex(int index)` Returns a double[] with the (x, y) coordinate of the vertex specified by the index
`boolean`	`isConcave()` Returns true if the polygon is concave.
`boolean`	`isOnEdge(double[] point)` Returns true if the point defined by the parameter is on the edge of the GeoArea
`static void`	`main(String[] args)`
`int`	`numIntersections(double[] point1, double[] point2)` Computes how many times a line passing through two points intersects a polygon edge
`int`	`numVertices()` Returns the number of vertices in the polygon
`int`	`onVertex(double[] point)` Returns the index of a vertex that a point parameter is on (-1 if not on a vertex)
`List<double[]>`	`orientedBoundingBox()` Returns the corner points of an oriented bounding box for the region Will default to the orthogonal bounding box, so must be over-ridden for GeoArea types that are not necessarily orthogonally oriented (polygon) (this method does nothing more than reasssert the original GeoArea method)
`void`	`resetOrientedBoundingBox()` Recomputes the polygon's oriented bounded box when vertices are added or removed
`protected void`	`setVertices(List<double[]> points)` Assigns a new set of points to the GeoPolygon
`String`	`toMATLABString(String colorCode)` Generates a string representation of the Path object that can be used to plot the path in MATLAB
`String`	`toString()` Generates a string representation of the GeoPolygon object

Methods inherited from class planner.geography.GeoArea
distance, distance, dotProduct, getLineIntersection, getLineSegmentIntersection, getLineToSegmentIntersection, isColocated, isColocated, isInLineSegment, isInSegment, isOnSegment, isOnSegment

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - GeoPolygon
```
protected GeoPolygon()
```
    Creates a new instance of GeoPolygogn, but does not assign any values
  - GeoPolygon
```
public GeoPolygon(List<double[]> points)
```
    Creates a new instance of GeoPolygon
    
    Parameters:
    
    points - ordered list of polygon vertices. Each list element is a double[2] (x, y) coordinate
- Method Detail
  - setVertices
```
protected void setVertices(List<double[]> points)
```
    Assigns a new set of points to the GeoPolygon
    
    Parameters:
    
    points - ordered list of polygon vertices. Each list element is a double[2] (x, y) coordinate
  - onVertex
```
public int onVertex(double[] point)
```
    Returns the index of a vertex that a point parameter is on (-1 if not on a vertex)
    
    Parameters:
    
    point -
    
    Returns:
  - numVertices
```
public int numVertices()
```
    Returns the number of vertices in the polygon
    
    Returns:
  - getVertex
```
public double[] getVertex(int index)
```
    Returns a double[] with the (x, y) coordinate of the vertex specified by the index
    
    Parameters:
    
    index -
    
    Returns:
  - getTangents
```
public ArrayList<double[]> getTangents(double[] start)
```
    Determines the points on the area's edge that are tangentially reachable from a specified point
    
    Specified by:
    
    getTangents in class GeoArea
    
    Parameters:
    
    start - the point from which tangents are to be determined start[0] = x, start[1] = y
    
    Returns:
    
    an ArrayList with two double[2] objects representing the tangent points
  - getAdjacentVertices
```
public List<double[]> getAdjacentVertices(int index)
```
    Returns an array list with the locations of the vertices adjacent to a specified vertex Will return null if the specified index is less than zero or greater than the total vertices
    
    Parameters:
    
    index - index to the vertex of interest
    
    Returns:
  - numIntersections
```
public int numIntersections(double[] point1,
                            double[] point2)
```
    Computes how many times a line passing through two points intersects a polygon edge
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
  - getIntersection
```
public double[] getIntersection(double[] point1,
                                double[] point2)
```
    Determines the closest point of intersection between the region and a line (defined with 2 points) If the line is tangent to the polygon, null will be returned (no intersection)
    
    Specified by:
    
    getIntersection in class GeoArea
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
    
    a 2 element array with the (X, Y) point of intersection (null if no intersect)
  - getSegmentIntersection
```
public double[] getSegmentIntersection(double[] point1,
                                       double[] point2)
```
    Determines the closest point of intersection between the region and a line segment If the line is tangent to the polygon, null will be returned (no intersection)
    
    Specified by:
    
    getSegmentIntersection in class GeoArea
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
    
    a 2 element array with the (X, Y) point of intersection (null if no intersect)
  - getSegmentIntersection2
```
public double[] getSegmentIntersection2(double[] point1,
                                        double[] point2)
```
    Determines the closest point of intersection between the region and a line segment If the line is tangent to the polygon, null will be returned (no intersection) If the startpoint of the segment is in the area and the segment proceeds further into the area, then the start will not be returned as the intersection, but the next intersection will (effectively, if point1 is in the area, the nearest intersection where the segment leaves the area will be returned)
    
    Parameters:
    
    point1 - first point on the line (point1[0] = x, point1[1] = y)
    
    point2 - second point on the line (point2[0] = x, point2[1] = y)
    
    Returns:
    
    a 2 element array with the (X, Y) point of intersection (null if no intersect)
  - getArea
```
public double getArea()
```
    Returns the area (square meters) of the GeoPolygon
    
    Specified by:
    
    getArea in class GeoArea
    
    Returns:
  - getCentroid
```
public double[] getCentroid()
```
    Returns a double[2] with the (x, y) position of the area's centroid
    
    Specified by:
    
    getCentroid in class GeoArea
    
    Returns:
  - closestPoint
```
public double[] closestPoint(double[] point)
```
    Returns the vertex of the polygon that is closest to the parameter point NOTE: This method provides the closest VERTEX, not the closest arbitrary point on the polygon
    
    Specified by:
    
    closestPoint in class GeoArea
    
    Parameters:
    
    point - double[2] with the (x, y) coordinates of the point being tested
    
    Returns:
  - boundingBox
```
public List<double[]> boundingBox()
```
    Returns an ArrayList of 4 points that define an oriented rectangle enclosing the GeoPolygon
    
    Specified by:
    
    boundingBox in class GeoArea
    
    Returns:
  - resetOrientedBoundingBox
```
public void resetOrientedBoundingBox()
```
    Recomputes the polygon's oriented bounded box when vertices are added or removed
  - orientedBoundingBox
```
public List<double[]> orientedBoundingBox()
```
    Returns the corner points of an oriented bounding box for the region Will default to the orthogonal bounding box, so must be over-ridden for GeoArea types that are not necessarily orthogonally oriented (polygon) (this method does nothing more than reasssert the original GeoArea method)
    
    Overrides:
    
    orientedBoundingBox in class GeoArea
    
    Returns:
  - boundingCircleRadius
```
public double boundingCircleRadius()
```
    Returns the radius of a circle (centered at the area centroid) that encloses the area
    
    Specified by:
    
    boundingCircleRadius in class GeoArea
    
    Returns:
  - contains
```
public boolean contains(double[] point)
```
    Returns true if the point defined by the parameter is inside the GeoPolygon
    
    Specified by:
    
    contains in class GeoArea
    
    Parameters:
    
    point - double[2] defining the point being tested
    
    Returns:
    
    whether point is inside the GeoPolygon
  - isOnEdge
```
public boolean isOnEdge(double[] point)
```
    Returns true if the point defined by the parameter is on the edge of the GeoArea
    
    Specified by:
    
    isOnEdge in class GeoArea
    
    Parameters:
    
    point - double[2] defining the point being tested
    
    Returns:
    
    whether point is on the edge of the GeoArea
  - isConcave
```
public boolean isConcave()
```
    Returns true if the polygon is concave.
    
    Overrides:
    
    isConcave in class GeoArea
    
    Returns:
  - toString
```
public String toString()
```
    Generates a string representation of the GeoPolygon object
    
    Overrides:
    
    toString in class Object
  - convertToAreaElementType
```
public AreaElementType convertToAreaElementType()
```
    Converts the GeoCircle to an AVCL area object
    
    Specified by:
    
    convertToAreaElementType in class GeoArea
    
    Returns:
    
    Object AVCL area object corresponding to the GeoPoint
  - main
```
public static void main(String[] args)
```
    Parameters:
    
    args -
  - toMATLABString
```
public String toMATLABString(String colorCode)
```
    Generates a string representation of the Path object that can be used to plot the path in MATLAB
    
    Specified by:
    
    toMATLABString in class GeoArea
    
    Parameters:
    
    colorCode - MATLAB code for the color that is to be used in plotting the areas
    
    Returns:
    
    MATLAB compatible string that will plot the areas in the set

Class GeoPolygon

Constructor Summary

Method Summary

Methods inherited from class planner.geography.GeoArea

Methods inherited from class java.lang.Object

Constructor Detail

GeoPolygon

GeoPolygon

Method Detail

setVertices

onVertex

numVertices

getVertex

getTangents

getAdjacentVertices

numIntersections

getIntersection

getSegmentIntersection

getSegmentIntersection2

getArea

getCentroid

closestPoint

boundingBox

resetOrientedBoundingBox

orientedBoundingBox

boundingCircleRadius

contains

isOnEdge

isConcave

toString

convertToAreaElementType

main

toMATLABString