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| #include <ros/ros.h>
#include <boost/assign.hpp>
#include <boost/geometry/geometry.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/geometries/linestring.hpp>
#include <boost/geometry/geometries/box.hpp>
#include <boost/geometry/geometries/ring.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/algorithms/transform.hpp>
#include <list>
using namespace std;
namespace bg = boost::geometry;
namespace bgi = bg::index;
using Point = bg::model::point<double, 2, bg::cs::cartesian>;
using Box = bg::model::box<Point>;
using Line = bg::model::linestring<Point>;
using Segment = bg::model::segment<Point>;
int main(int argc, char** argv)
{
ros::init(argc, argv, "test_boost");
ros::NodeHandle nh;
Point pt0(100, 100);
Point pt1(200, 200);
cout << "distance from pt0 to pt1: "<< bg::distance(pt0, pt1) << endl;
Segment s1(Point(0, 100), Point(100, 0));
Segment s2(Point(0, 0), Point(120, 120));
cout << "distance from pt0 to s1: " << bg::distance(pt0, s1) << endl;
cout << "Is segment1 and segment2 intersect: " << bg::intersects(s1, s2) << endl;
std::list<Point> points;
bg::intersection(s1, s2, points);
for(auto p : points)
cout << bg::dsv(p) << " ";
cout << endl;
Box rc(Point(0, 0), Point(200, 200));
Box rc0(Point(250, 250), Point(450, 450));
Box rc1(Point(100, 100), Point(300, 300));
cout << "rc and rc0 intersect: " << bg::intersects(rc, rc0) <<endl;
cout << "rc and rc1 intersect: " << bg::intersects(rc, rc1) <<endl;
Line line = { {1,1},{2,0},{3,2} };
Box box;
bg::envelope(line, box);
std::cout << bg::dsv(line) << "'s AABB is " << bg::dsv(box) << std::endl;
return 0;
}
|
