MedialAxis2D Class Reference

2D Medial Axis construction using Segment Delaunay Graph More...

#include <MedialAxis2D.h>

Data Structures
struct	edgeHash
struct	MedialEdge
	Medial axis edge structure. More...
struct	PolygonSegment

Public Types
Local types
{
typedef CGAL::Simple_cartesian< double >	CK
typedef CGAL::Segment_Delaunay_graph_filtered_traits_2< CK, CGAL::Field_with_sqrt_tag >	Gt
typedef CGAL::Segment_Delaunay_graph_2< Gt >	SDG2
typedef SDG2::Site_2	Site2
typedef SDG2::Point_2	Point2
typedef SDG2::Edge	Edge2
typedef SDG2::Data_structure	DS
typedef Gt::Segment_2	Segment2
typedef CGAL::Parabola_segment_2< Gt >	Parabola2
typedef pair< double, Point3d >	ClearanceType
typedef WorkspaceSkeleton	SkeletonGraphType
typedef unordered_map< WorkspaceSkeleton::VD, ClearanceType >	VertexClearanceMapType
typedef stapl::sequential::graph< stapl::UNDIRECTED, stapl::MULTIEDGES, Point2, MedialEdge >	MedialAxisGraph
	Underlying medial axis graph type. More...
typedef vector< PolygonSegment >	PolygonSegments
typedef unordered_map< WorkspaceSkeleton::ED, vector< ClearanceType >, edgeHash >	EdgeClearanceMapType

Public Member Functions
Construction
	MedialAxis2D ()
	MedialAxis2D (vector< GMSPolyhedron > &_polys, const Boundary *_b, vector< Boundary * > _bndrys=vector< Boundary * >())
Modifiers
void	AddSegments (vector< pair< Point3d, Point3d >> &_s)
void	AddSegments (vector< Point3d > &_p, vector< pair< size_t, size_t >> &_s)
void	AddPoints (vector< Point3d > &_p)
void	BuildMedialAxis ()
	Filter out medial axis edges. More...
Accessors
tuple< WorkspaceSkeleton, VertexClearanceMapType, EdgeClearanceMapType >	GetSkeleton (size_t _t=0)
vector< ClearanceType >	AnnotateSegment (MedialEdge &_e)
	Calculete the clearance annotation of the interpolated points. More...
double	GetVertexClearance (size_t _i)
Point3d	GetVertexClearanceWitness (size_t _i)

Detailed Description

2D Medial Axis construction using Segment Delaunay Graph

Member Typedef Documentation

CK

typedef CGAL::Simple_cartesian<double> MedialAxis2D::CK

ClearanceType

typedef pair<double,Point3d> MedialAxis2D::ClearanceType

DS

typedef SDG2::Data_structure MedialAxis2D::DS

Edge2

typedef SDG2::Edge MedialAxis2D::Edge2

EdgeClearanceMapType

typedef unordered_map<WorkspaceSkeleton::ED,vector<ClearanceType>, edgeHash> MedialAxis2D::EdgeClearanceMapType

Gt

typedef CGAL::Segment_Delaunay_graph_filtered_traits_2<CK, CGAL::Field_with_sqrt_tag> MedialAxis2D::Gt

MedialAxisGraph

typedef stapl::sequential::graph<stapl::UNDIRECTED,stapl::MULTIEDGES, Point2, MedialEdge> MedialAxis2D::MedialAxisGraph

Underlying medial axis graph type.

Parabola2

typedef CGAL::Parabola_segment_2<Gt> MedialAxis2D::Parabola2

Point2

typedef SDG2::Point_2 MedialAxis2D::Point2

PolygonSegments

typedef vector<PolygonSegment> MedialAxis2D::PolygonSegments

SDG2

typedef CGAL::Segment_Delaunay_graph_2<Gt> MedialAxis2D::SDG2

Segment2

typedef Gt::Segment_2 MedialAxis2D::Segment2

Site2

typedef SDG2::Site_2 MedialAxis2D::Site2

SkeletonGraphType

typedef WorkspaceSkeleton MedialAxis2D::SkeletonGraphType

VertexClearanceMapType

typedef unordered_map<WorkspaceSkeleton::VD, ClearanceType> MedialAxis2D::VertexClearanceMapType

Constructor & Destructor Documentation

MedialAxis2D() [1/2]

MedialAxis2D::MedialAxis2D ( )

inline

MedialAxis2D() [2/2]

MedialAxis2D::MedialAxis2D	(	vector< GMSPolyhedron > &	_polys,
		const Boundary *	_b,
		vector< Boundary * >	_bndrys = vector<Boundary*>()
	)

Member Function Documentation

AddPoints()

void MedialAxis2D::AddPoints

(

vector< Point3d > &

_p

)

Add a set of points

Parameters

_p

Points.

AddSegments() [1/2]

void MedialAxis2D::AddSegments

(

vector< pair< Point3d, Point3d >> &

_s

)

Add a set of insert segments

Parameters

_s

Segments.

AddSegments() [2/2]

void MedialAxis2D::AddSegments	(	vector< Point3d > &	_p,
		vector< pair< size_t, size_t >> &	_s
	)

Add a set of insert segments

Parameters

_p	Points.
_s	Segments.

AnnotateSegment()

vector< MedialAxis2D::ClearanceType > MedialAxis2D::AnnotateSegment

(

MedialEdge &

_e

)

Calculete the clearance annotation of the interpolated points.

BuildMedialAxis()

void MedialAxis2D::BuildMedialAxis

(

)

Filter out medial axis edges.

GetSkeleton()

tuple< WorkspaceSkeleton, MedialAxis2D::VertexClearanceMapType, MedialAxis2D::EdgeClearanceMapType > MedialAxis2D::GetSkeleton

(

size_t

_t = 0

)

Get the workspace skeleton from the medial axis

Parameters

_t	Pass 0 for entire graph, 1 for free space and 2 for obstacle space

GetVertexClearance()

double MedialAxis2D::GetVertexClearance

(

size_t

_i

)

GetVertexClearanceWitness()

Point3d MedialAxis2D::GetVertexClearanceWitness

(

size_t

_i

)

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/Utilities/MedialAxis2D.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Utilities/MedialAxis2D.cpp