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feat(universe_utils): reduce dependence on Boost.Geometry #8974

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feat(universe_utils): reduce dependence on Boost.Geometry #8974

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391bf2f
make area() support concave polygon
mitukou1109 Sep 27, 2024
eb67315
make touches() support concave polygon
mitukou1109 Sep 27, 2024
f48597c
make covered_by() support concave polygon
mitukou1109 Sep 27, 2024
b4ef388
ignore holes in covered_by()
mitukou1109 Oct 1, 2024
162216d
make distance() support concave polygon
mitukou1109 Oct 1, 2024
dcf5b77
winding number algorithm is applicable to concave polygon
mitukou1109 Oct 1, 2024
42ef62f
add test cases for covered_by(), within()
mitukou1109 Oct 1, 2024
a1986a7
allow concave polygon to be checked whether within convex polygon
mitukou1109 Oct 1, 2024
8750942
fix wording for clarity
mitukou1109 Oct 1, 2024
7bb6a4c
fix behavior of covered_by() & within() for polygons with holes
mitukou1109 Oct 21, 2024
72342f0
refactor test cases
mitukou1109 Oct 21, 2024
7128865
fix intersects() for convex polygons
mitukou1109 Oct 25, 2024
4152ac5
make intersects() support concave polygons
mitukou1109 Oct 21, 2024
07b6ccd
make disjoint() support concave polygons
mitukou1109 Oct 25, 2024
429a789
make within() support concave polygons
mitukou1109 Oct 25, 2024
6f654f6
remove unnecessary includes
mitukou1109 Oct 28, 2024
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allow concave polygon to be checked whether within convex polygon 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
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@mitukou1109
mitukou1109 committed Oct 28, 2024
commit a1986a79775e10eefdf803f9b4c681cab7df91e4
3 changes: 1 addition & 2 deletions common/autoware_universe_utils/include/autoware/universe_utils/geometry/alt_geometry.hpp
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Expand Up @@ -201,8 +201,7 @@ bool touches(const alt::Point2d & point, const alt::Polygon2d & poly);

bool within(const alt::Point2d & point, const alt::Polygon2d & poly);

bool within(
const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing);
bool within(const alt::Polygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing);
} // namespace autoware::universe_utils

#endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__ALT_GEOMETRY_HPP_
5 changes: 2 additions & 3 deletions common/autoware_universe_utils/src/geometry/alt_geometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -656,15 +656,14 @@ bool within(const alt::Point2d & point, const alt::Polygon2d & poly)
return true;
}

bool within(
const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing)
bool within(const alt::Polygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing)
{
if (equals(poly_contained, poly_containing)) {
return true;
}

// check if all points of poly_contained are within poly_containing
for (const auto & vertex : poly_contained.vertices()) {
for (const auto & vertex : poly_contained.outer()) {
if (!within(vertex, poly_containing)) {
return false;
}
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