Voronoi Class Reference
[Voronoi]

calculate voronoi diagram of a point-set and some geometric centers based on the voronoi regions More...

#include <Voronoi.h>

List of all members.

Public Member Functions

Voronoi ()

~Voronoi ()

void insert (Position p)

adds a point to the voronoi diagram

bool valid ()

valid if voronoi diagram has 2 or more regions

bool scanToFill (Scan &scan, Angle angRangeMin, Angle angRangeMax, Angle angRes)

check if the scan needs to be filled

void fillScan (Scan &scan, Decimal linRangeMax, Angle angRes)

fills the scan with the max range when passing from 240° to 360°

vector< Position > intersectScan (Scan &scan, Position p, Decimal limitedRange, bool limitedRangeOn=true, bool useSectors=true)

find the intersection between: the scan, the voronoi region, a disk

Position centroid ()

find centroid

Position weightedNormal (Decimal limitedRange, Decimal limitedRangeEps, Angle angRes, bool limitTarget=true)

compute a point on the direction where the robot can increase the area of its voronoi region

Position circumCenter (Decimal &radius)

compute the circumcenter

void clear ()

clear the voronoi diagram

void setGV (CGAL::Geomview_stream *gvs)

set the pointer to the Geomview stream

void setDW (DraWin *dwp, unsigned int dwpList)

set the pointer to the DraWin source

void setDWPose (Pose dwpPose)

set orientation and position (pose) needed for rototranslation in draWin

void setDWPointSize (Decimal s)

set the size of points

void setDWDiskSize (Decimal s)

set the size of disk

void setDWColor (Color c)

set the color

void drawDiagram ()

draw the voronoi diagram

void drawSites ()

draw sites of the voronoi diagram

void drawDisk (Position p)

draw disk

void drawSegment (Position source, Position target)

draw a segment

void drawCircle (Position center, Decimal radius, int sampling=1)

draw circle

void drawScan (int sampling=1)

draw scan

void drawLimitedScan (int sampling=1)

draw limited scan

void drawVoronoiScan (int sampling=1)

draw voronoi scan

void drawVoronoiScanPoints (int sampling=1)

draw voronoi scan points

void drawRegionEdges (Position p)

draw region edges

void drawRegionSectors (Position center, Decimal radius, int sampling=1)

draw region edge sectors

bool clearPlot ()

clear the plot

Position pointToPosition (Point_2 point)

convert a Point_2 to a Position

Point_2 positionToPoint (Position point)

convert a Position to a Point_2

Detailed Description

calculate voronoi diagram of a point-set and some geometric centers based on the voronoi regions

algorithm: calculates voronoi diagram of a point-set input: point-set, scan; output: heterogeneous geometric centers (centroid, circumcenter) or directions (weighted normal)

Author:: Fabrizio Ramundo

Constructor & Destructor Documentation

Voronoi::Voronoi ( ) [inline]

default constructor

Voronoi::~Voronoi ( ) [inline]

destructor

Member Function Documentation

void Voronoi::insert ( Position p )

adds a point to the voronoi diagram

Returns:: void

Parameters:

[in] p position of the point to add

bool Voronoi::valid ( )

valid if voronoi diagram has 2 or more regions

Returns:: bool

bool Voronoi::scanToFill	(	Scan &	scan,
		Angle	angRangeMin,
		Angle	angRangeMax,
		Angle	angRes
	)

check if the scan needs to be filled

Returns:: bool

Parameters:

`[in]`	scan
`[in]`	angRangeMin	min range
`[in]`	angRangeMax	max range
`[in]`	angRes	angular resolution

void Voronoi::fillScan	(	Scan &	scan,
		Decimal	linRangeMax,
		Angle	angRes
	)

fills the scan with the max range when passing from 240° to 360°

Returns:: void

Parameters:

`[in]`	scan
`[in]`	linRangeMax	max range
`[in]`	angRes	angular resolution

vector< Position > Voronoi::intersectScan	(	Scan &	scan,
		Position	p,
		Decimal	limitedRange,
		bool	limitedRangeOn = `true`,
		bool	useSectors = `true`
	)

find the intersection between: the scan, the voronoi region, a disk

Returns:: vector containing the positions of the scan points after the intersection

Parameters:

`[in]`	scan
`[in]`	p	position of a point inside the voronoi region to intersect
`[in]`	limitedRange	radius of the disk to intersect
`[in]`	limitedRangeOn	enables or disables intersection with the limitedRange disk
`[in]`	useSectors	enables or disables edge sectors optimization

Position Voronoi::centroid ( )

find centroid

Returns:: position

Position Voronoi::weightedNormal	(	Decimal	limitedRange,
		Decimal	limitedRangeEps,
		Angle	angRes,
		bool	limitTarget = `true`
	)

compute a point on the direction where the robot can increase the area of its voronoi region

Returns:: target position

Parameters:

`[in]`	limitedRange	radius of the disk used for the intersection with the scan (ref. intersectScan)
`[in]`	limitedRangeEps	resolution
`[in]`	angRes	angular resolution
`[in]`	limitTarget	target limited to be inside the disk?

Position Voronoi::circumCenter ( Decimal & radius )

compute the circumcenter

Returns:: target position

Parameters:

[out] radius of circumference

void Voronoi::clear ( )

clear the voronoi diagram

Returns:: void

void Voronoi::setGV ( CGAL::Geomview_stream * gvs )

set the pointer to the Geomview stream

Returns:: void

Parameters:

[in] CGAL::Geomview_stream* pointer to GV stream

void Voronoi::setDW	(	DraWin *	dwp,
		unsigned int	dwpList
	)

set the pointer to the DraWin source

Returns:: void

Parameters:

`[in]`	DraWin*	pointer to DW
`[in]`	dwpList	draWin list

void Voronoi::setDWPose ( Pose dwpPose )

set orientation and position (pose) needed for rototranslation in draWin

Returns:: void

Parameters:

[in] dwpPose pose of the robot

void Voronoi::setDWPointSize ( Decimal s )

set the size of points

Returns:: void

Parameters:

[in] s size of points

void Voronoi::setDWDiskSize ( Decimal s )

set the size of disk

Returns:: void

Parameters:

[in] s size of disk

void Voronoi::setDWColor ( Color c )

set the color

Returns:: void

Parameters:

[in] c color

void Voronoi::drawDiagram ( )

draw the voronoi diagram

Returns:: void

void Voronoi::drawSites ( )

draw sites of the voronoi diagram

Returns:: void

void Voronoi::drawDisk ( Position p )

draw disk

Returns:: void

Parameters:

[in] p position

void Voronoi::drawSegment	(	Position	source,
		Position	target
	)

draw a segment

Returns:: void

Parameters:

`[in]`	source	segment start point
`[in]`	target	segment end point

void Voronoi::drawCircle	(	Position	center,
		Decimal	radius,
		int	sampling = `1`
	)

draw circle

Returns:: void

Parameters:

`[in]`	center	of circumference
`[in]`	radius	of circumference
`[in]`	sampling	coefficient

void Voronoi::drawScan ( int sampling = 1 )

draw scan

Returns:: void

Parameters:

[in] sampling coefficient

void Voronoi::drawLimitedScan ( int sampling = 1 )

draw limited scan

Returns:: void

Parameters:

[in] sampling coefficient

void Voronoi::drawVoronoiScan ( int sampling = 1 )

draw voronoi scan

Returns:: void

Parameters:

[in] sampling coefficient

void Voronoi::drawVoronoiScanPoints ( int sampling = 1 )

draw voronoi scan points

Returns:: void

Parameters:

[in] sampling coefficient

void Voronoi::drawRegionEdges ( Position p )

draw region edges

Returns:: void

Parameters:

[in] p position

void Voronoi::drawRegionSectors	(	Position	center,
		Decimal	radius,
		int	sampling = `1`
	)

draw region edge sectors

Returns:: void

Parameters:

`[in]`	center	of region
`[in]`	radius	of the sectors
`[in]`	sampling	coefficient

bool Voronoi::clearPlot ( )

clear the plot

Returns:: bool

Position Voronoi::pointToPosition ( Point_2 point )

convert a Point_2 to a Position

Returns:: Position

Parameters:

[in] point

Point_2 Voronoi::positionToPoint ( Position point )

convert a Position to a Point_2

Returns:: Point_2

Parameters:

[in] point

The documentation for this class was generated from the following files:

algorithms/Voronoi/Voronoi.h
algorithms/Voronoi/Voronoi.cpp


Public Member Functions
	Voronoi ()
	~Voronoi ()
void	insert (Position p)
	adds a point to the voronoi diagram
bool	valid ()
	valid if voronoi diagram has 2 or more regions
bool	scanToFill (Scan &scan, Angle angRangeMin, Angle angRangeMax, Angle angRes)
	check if the scan needs to be filled
void	fillScan (Scan &scan, Decimal linRangeMax, Angle angRes)
	fills the scan with the max range when passing from 240° to 360°
vector< Position >	intersectScan (Scan &scan, Position p, Decimal limitedRange, bool limitedRangeOn=true, bool useSectors=true)
	find the intersection between: the scan, the voronoi region, a disk
Position	centroid ()
	find centroid
Position	weightedNormal (Decimal limitedRange, Decimal limitedRangeEps, Angle angRes, bool limitTarget=true)
	compute a point on the direction where the robot can increase the area of its voronoi region
Position	circumCenter (Decimal &radius)
	compute the circumcenter
void	clear ()
	clear the voronoi diagram
void	setGV (CGAL::Geomview_stream *gvs)
	set the pointer to the Geomview stream
void	setDW (DraWin *dwp, unsigned int dwpList)
	set the pointer to the DraWin source
void	setDWPose (Pose dwpPose)
	set orientation and position (pose) needed for rototranslation in draWin
void	setDWPointSize (Decimal s)
	set the size of points
void	setDWDiskSize (Decimal s)
	set the size of disk
void	setDWColor (Color c)
	set the color
void	drawDiagram ()
	draw the voronoi diagram
void	drawSites ()
	draw sites of the voronoi diagram
void	drawDisk (Position p)
	draw disk
void	drawSegment (Position source, Position target)
	draw a segment
void	drawCircle (Position center, Decimal radius, int sampling=1)
	draw circle
void	drawScan (int sampling=1)
	draw scan
void	drawLimitedScan (int sampling=1)
	draw limited scan
void	drawVoronoiScan (int sampling=1)
	draw voronoi scan
void	drawVoronoiScanPoints (int sampling=1)
	draw voronoi scan points
void	drawRegionEdges (Position p)
	draw region edges
void	drawRegionSectors (Position center, Decimal radius, int sampling=1)
	draw region edge sectors
bool	clearPlot ()
	clear the plot
Position	pointToPosition (Point_2 point)
	convert a Point_2 to a Position
Point_2	positionToPoint (Position point)
	convert a Position to a Point_2

Voronoi Class Reference [Voronoi]

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Voronoi Class Reference
[Voronoi]