PatternGeneratorJRL::ComputeConvexHull Class Reference

#include <Mathematics/ConvexHull.hh>

List of all members.

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

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Detailed Description

This class compute the convex hull in 2D.

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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(), PatternGeneratorJRL::HRP2CIO_GlobalP0, and PatternGeneratorJRL::CH_Point::row.

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