How to use

getPointInPolygonNearestPoint

method

in

us.ihmc.humanoidRobotics.footstep.footstepSnapper.ConvexHullFootstepSnapper

private ArrayList<Point2d> reduceListOfPointsToFourFootstepBased(List<Point2d> listOfPoints)
{
 ConvexPolygon2d basePolygon = parameters.getCollisionPolygon();
 ConvexPolygon2d supportPolygon = new ConvexPolygon2d(listOfPoints);
 supportPolygon.update();
 ArrayList<Point2d> finalListOfSupportPoints = new ArrayList<Point2d>();
 //for each vertex of the basePolygon, find the closest point inside the support polygon.
 int size = basePolygon.getNumberOfVertices();
 for (int i = 0; i < size; i++)
 {
   Point2d vertex = basePolygon.getVertex(i);
   Point2d correspondingSupportPoint = getPointInPolygonNearestPoint(supportPolygon, vertex);
   finalListOfSupportPoints.add(correspondingSupportPoint);
 }
 return finalListOfSupportPoints;
}

private List<Point2D> reduceListOfPointsToFourFootstepBased(List<? extends Point2DReadOnly> listOfPoints)
{
 ConvexPolygon2D basePolygon = parameters.getCollisionPolygon();
 ConvexPolygon2D supportPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(listOfPoints));
 supportPolygon.update();
 ArrayList<Point2D> finalListOfSupportPoints = new ArrayList<Point2D>();
 //for each vertex of the basePolygon, find the closest point inside the support polygon.
 int size = basePolygon.getNumberOfVertices();
 for (int i = 0; i < size; i++)
 {
   Point2DReadOnly vertex = basePolygon.getVertex(i);
   Point2D correspondingSupportPoint = getPointInPolygonNearestPoint(supportPolygon, vertex);
   finalListOfSupportPoints.add(correspondingSupportPoint);
 }
 return finalListOfSupportPoints;
}