How to use

intersectionWith

method

in

us.ihmc.robotics.geometry.FrameConvexPolygon2d

private void fitLine()
{
 if (!footCoPOccupancyGrid.fitLineToData(line))
   return;
 lineL.setIncludingFrame(line);
 lineL.shiftToLeft(width/2.0);
 lineR.setIncludingFrame(line);
 lineR.shiftToRight(width/2.0);
 backupFootPolygon.set(shrunkFootPolygon);
 shrunkFootPolygon.clear();
 shrunkFootPolygon.addVertices(defaultFootPolygon.intersectionWith(lineL));
 shrunkFootPolygon.addVertices(defaultFootPolygon.intersectionWith(lineR));
 shrunkFootPolygon.update();
}

rayFromICPAwayFromFinalDesiredICP.setIncludingFrame(capturePoint, finalDesiredICPToICPDirection);
FramePoint2d[] finalDesiredICPToICPIntersections = supportPolygon.intersectionWith(rayFromICPAwayFromFinalDesiredICP);

footCenterCoPLineSegment.set(footFrame, 0.0, 0.0, tempCoP2d.getX(), tempCoP2d.getY());
FramePoint2d[] intersectionPoints = footPolygon.intersectionWith(footCenterCoPLineSegment);

boolean nextStepInside = desiredSteppingRegion.intersectionWith(touchdownFootPolygon, intersection);

FramePoint2d[] intersections = polygon.intersectionWith(line);

FramePoint2d[] intersections = polygon.intersectionWith(line);
if (intersections != null)

FramePoint2d[] intersections = gridBoundaries.intersectionWith(shiftedLine);

private void intersectASinglePolygon(FrameConvexPolygon2d polygon, Pair<FramePoint, FramePoint> intersectionWithPolygon)
{
 intersectionOfPlanes.changeFrame(polygon.getReferenceFrame());
 intersectionOfPlanes.projectOntoXYPlane(planeIntersectionOnPolygonPlane);
 polygon.intersectionWith(planeIntersectionOnPolygonPlane, lineIntersectionOnPolygonPlane);
 if (lineIntersectionOnPolygonPlane.getFirst().containsNaN() && lineIntersectionOnPolygonPlane.getSecond().containsNaN())
 {
   noIntersection = true;
 }
 if (!lineIntersectionOnPolygonPlane.getFirst().containsNaN())
 {
   intersectionWithPolygon.getFirst().setXYIncludingFrame(lineIntersectionOnPolygonPlane.getFirst());
 }
 if (!lineIntersectionOnPolygonPlane.getSecond().containsNaN())
 {
   intersectionWithPolygon.getSecond().setXYIncludingFrame(lineIntersectionOnPolygonPlane.getSecond());
 }
}

rawCaptureRegion.intersectionWith(reachableRegions.get(swingSide.getOppositeSide()), captureRegionPolygon);