geometric_utils.h File Reference

basic geometry utils More...

#include <iostream>
#include <decomp_basis/data_utils.h>
#include <Eigen/Eigenvalues>

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Functions
template<int Dim>
Vecf< Dim >	eigen_value (const Matf< Dim, Dim > &A)
	Calculate eigen values.
Mat2f	vec2_to_rotation (const Vec2f &v)
	Calculate rotation matrix from a vector (aligned with x-axis)
Mat3f	vec3_to_rotation (const Vec3f &v)
vec_Vec2f	sort_pts (const vec_Vec2f &pts)
	Sort points on the same plane in the counter-clockwise order. More...
bool	line_intersect (const std::pair< Vec2f, Vec2f > &v1, const std::pair< Vec2f, Vec2f > &v2, Vec2f &pi)
	Find intersection between two lines on the same plane, return false if they are not intersected.
vec_Vec2f	line_intersects (const vec_E< std::pair< Vec2f, Vec2f >> &lines)
	Find intersection between multiple lines.
vec_Vec2f	cal_vertices (const Polyhedron2D &poly)
vec_E< vec_Vec3f >	cal_vertices (const Polyhedron3D &poly)
	Find extreme points of Polyhedron3D.

Detailed Description

basic geometry utils

Function Documentation

vec_Vec2f sort_pts ( const vec_Vec2f &  pts )

inline

Sort points on the same plane in the counter-clockwise order.

if empty, dont sort

calculate center point

sort in body frame