Polygon (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_geometry.Polygon

```
public class Polygon
extends java.lang.Object
```
indexed polygon class that saves N indices to the N vertices of the polygon

Constructor Summary

Constructors
Constructor Description

Polygon()

Polygon(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`addVertex(Vector3D p)`	Adds a vertex to the polygon The point will be added to the end of the list of points
`Vector3D`	`computeCenter()`	Computes the center of the polygon as the average of all coordinates
`void`	`delete()`
`Vector3D`	`get(long i)`
`static long`	`getCPtr(Polygon obj)`
`Vector3D`	`getVertex(long idx)`	returns the index of vertex i of the triangle
`void`	`removeVertex(long idx)`	Removes vertex from the polygon
`void`	`set(long i, Vector3D d)`
`long`	`size()`	Number of vertices of this polygon

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Polygon
```
public Polygon(long cPtr,
               boolean cMemoryOwn)
```
  - Polygon
```
public Polygon()
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Polygon obj)
```
  - delete
```
public void delete()
```
  - addVertex
```
public void addVertex(Vector3D p)
```
    Adds a vertex to the polygon
    
    The point will be added to the end of the list of points
    
    Parameters:
    
    p - [in] The point to add
  - removeVertex
```
public void removeVertex(long idx)
```
    Removes vertex from the polygon
    
    Parameters:
    
    idx - [in] Index of the vertex to remove
  - getVertex
```
public Vector3D getVertex(long idx)
```
    returns the index of vertex i of the triangle
  - get
```
public Vector3D get(long i)
```
  - set
```
public void set(long i,
                Vector3D d)
```
  - size
```
public long size()
```
    Number of vertices of this polygon
    
    Returns:
    
    Number of vertices
  - computeCenter
```
public Vector3D computeCenter()
```
    Computes the center of the polygon as the average of all coordinates
    
    Returns:
    
    Center of the polygon