com.kuka.nav.geometry
Class Polygon

java.lang.Object
  com.kuka.geometry.SpatialForm
      com.kuka.nav.geometry.SpatialForm2D
          com.kuka.nav.geometry.Polygon

public class Polygon
extends SpatialForm2D

Implements a polygon as a spatial form. The polygon is defined by an ordered list of 2D points relative to a reference frame.

Constructor Summary

Polygon(List<Point2D> points)
Creates a new polygon instance with a given list of 2D points.

Method Summary

boolean	approxEquals(SpatialForm2D other, double epsilon) Compares this form with another form and permits a degree of inaccuracy.
boolean	equals(Object obj)
List<Point2D>	getVertices()
int	hashCode()

Methods inherited from class com.kuka.nav.geometry.SpatialForm2D

getName, setName

Methods inherited from class com.kuka.geometry.SpatialForm

createFrame, getOwnerObject, getReferenceFrame, setOwnerObject, setReferenceFrame

Methods inherited from class java.lang.Object

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

Constructor Detail

Polygon

public Polygon(List<Point2D> points)

Creates a new polygon instance with a given list of 2D points.

Parameters:

points - the polygon vertices

Method Detail

getVertices

public List<Point2D> getVertices()

Returns:

the vertices of this polygon

hashCode

public int hashCode()

Overrides:

hashCode in class SpatialForm2D

equals

public boolean equals(Object obj)

Overrides:

equals in class SpatialForm2D

approxEquals

public boolean approxEquals(SpatialForm2D other,
                            double epsilon)

Description copied from class: SpatialForm2D

Compares this form with another form and permits a degree of inaccuracy.

Specified by:

approxEquals in class SpatialForm2D

Parameters:

other - another form

epsilon - the maximum envelope that coordinates can differ to still be considered equal

Returns:

true if the other form is of the same shape type and its parameters are within the epsilon envelope of this one