ConvexPolygon.h

#pragma once
#include <frc/geometry/Translation2d.h>
 
namespace valor {
 
class ConvexPolygon {
   public:
    ConvexPolygon(std::vector<frc::Translation2d> vert);
    bool Intersects(const ConvexPolygon& other);
    bool IsPointInPolygon(frc::Translation2d point) const;
    void SetVertices(std::vector<frc::Translation2d> new_vert);
 
    std::vector<frc::Translation2d>& GetVertices() { return vertices; }
 
    std::vector<frc::Translation2d> GetAxes() const;
    std::pair<units::square_meter_t, units::square_meter_t> Project(frc::Translation2d axis) const;
 
   private:
    bool IsPolygonConvex(std::vector<frc::Translation2d> vert) const;
 
    std::vector<frc::Translation2d> vertices;
};
}  // namespace valor