Package com.flarerobotics.lib.region

Class PolygonalRegion

java.lang.Object
com.flarerobotics.lib.region.PolygonalRegion
public class PolygonalRegion extends Object
A polygonal region on the field. Used for dividing the field into smaller sections. The vertices must be specified in (either CW or CCW) order, and the polygon must be non-self-intersecting.

  • Constructor Summary

    Constructors
    Constructor
    Description
    PolygonalRegion(List<edu.wpi.first.math.geometry.Translation2d> vertices)
    Constructs a new PolygonalRegion.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    collidesWith(PolygonalRegion other)
    Test whether this polygon collides (overlaps) with another polygon.
    boolean
    containsPoint(edu.wpi.first.math.geometry.Translation2d point)
    Returns whether the given 2D point lies within this polygon (including boundary).
    List<edu.wpi.first.math.geometry.Translation2d>
    getVertices()
    Returns the list of vertices in order.
    boolean
    isPoseWithinArea(edu.wpi.first.math.geometry.Pose2d pose)
    Returns whether the given pose (x, y) lies within this polygon.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • PolygonalRegion

      public PolygonalRegion(List<edu.wpi.first.math.geometry.Translation2d> vertices)
      Constructs a new PolygonalRegion.
      Parameters:
      vertices - The ordered list of corner points (A, B, C, ...). Must form a simple (non-self-intersecting) polygon.

  • Method Details

    • getVertices

      public List<edu.wpi.first.math.geometry.Translation2d> getVertices()
      Returns the list of vertices in order.
      Returns:
      A list of Translation2d corners.

    • isPoseWithinArea

      public boolean isPoseWithinArea(edu.wpi.first.math.geometry.Pose2d pose)
      Returns whether the given pose (x, y) lies within this polygon.
      Parameters:
      pose - The pose to check.
      Returns:
      True if the pose's (x, y) is inside or on the boundary.

    • containsPoint

      public boolean containsPoint(edu.wpi.first.math.geometry.Translation2d point)
      Returns whether the given 2D point lies within this polygon (including boundary). Uses the ray-casting (crossing-number) algorithm.
      Parameters:
      point - The point to test.
      Returns:
      True if the point is inside or on an edge.

    • collidesWith

      public boolean collidesWith(PolygonalRegion other)
      Test whether this polygon collides (overlaps) with another polygon.
      Parameters:
      other - The other PolygonalRegion to test against.
      Returns:
      True if they overlap at all.