CollisionPolygon¶

class CollisionPolygon¶

Bases: CollisionPlane

Inheritance diagram

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CollisionPolygon.__init__()¶: Creates an invalid polygon. Only used when reading from a bam file.

static CollisionPolygon.get_class_type()¶

CollisionPolygon.get_num_points()¶: Returns the number of vertices of the CollisionPolygon.

CollisionPolygon.get_point()¶: Returns the nth vertex of the CollisionPolygon, expressed in 3-D space.

CollisionPolygon.is_concave()¶: Returns true if the CollisionPolygon appears to be concave, or false if it is safely convex.

CollisionPolygon.is_valid()¶: Returns true if the CollisionPolygon is valid (that is, it has at least three vertices), or false otherwise.

CollisionPolygon.setup_points()¶

static CollisionPolygon.verify_points()¶

Verifies that the indicated set of points will define a valid CollisionPolygon: that is, at least three non-collinear points, with no points repeated.

This does not check that the polygon defined is convex; that check is made later, once we have projected the points to 2-d space where the decision is easier.