PatternGeneratorJRL::ComputeConvexHull Class Reference

#include <Mathematics/ConvexHull.hh>

Public Member Functions
	ComputeConvexHull ()
	~ComputeConvexHull ()
void	DoComputeConvexHull (std::vector< CH_Point > aVecOfPoints, std::vector< CH_Point > &TheConvexHull)

Detailed Description

This class compute the convex hull in 2D.

Constructor & Destructor Documentation

PatternGeneratorJRL::ComputeConvexHull::ComputeConvexHull

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PatternGeneratorJRL::ComputeConvexHull::~ComputeConvexHull

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Member Function Documentation

void PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull	(	std::vector< CH_Point >	aVecOfPoints,
		std::vector< CH_Point > &	TheConvexHull
	)

Compute the convex hull by applying Graham's algorithm.

Parameters

aVecOfPoints	The set of 2D points on which the convex hull is computed.
TheConvexHull	The set of 2D points which give the convex hull.

References PatternGeneratorJRL::CH_Point::col, PatternGeneratorJRL::CompareCBRep(), PatternGeneratorJRL::DistanceCHRep(), i, and PatternGeneratorJRL::CH_Point::row.

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities().