public Geometry getPartialEnvelopeGeometry(int indexFrom, int indexTo) {
		Geometry onePoly = null;
		Geometry prevPoly = null;
		if (indexFrom > indexTo || indexFrom < 0 || indexFrom > this.trajectory.getPoseSteering().length-1 || indexTo < 0 || indexTo >= this.trajectory.getPoseSteering().length) throw new Error("Indices incorrect!");
		for (int i = indexFrom; i <= indexTo; i++) {
			PoseSteering ps = this.trajectory.getPoseSteering()[i];
			Geometry rect = makeFootprint(ps);
			if (onePoly == null) {
				onePoly = rect;
				prevPoly = rect;
			}
			else {
				Geometry auxPoly = prevPoly.union(rect);
				onePoly = onePoly.union(auxPoly.convexHull());
				prevPoly = rect;
			}
		}
		return onePoly;
	}
public Geometry getPartialEnvelopeGeometry ( int indexFrom , int indexTo ) { Geometry onePoly = null ; Geometry prevPoly = null ; if ( indexFrom > indexTo || indexFrom < 0 || indexFrom > this . trajectory . getPoseSteering ( ) . length - 1 || indexTo < 0 || indexTo >= this . trajectory . getPoseSteering ( ) . length ) throw new Error ( "Indices incorrect!" ) ; for ( int i = indexFrom ; i <= indexTo ; i ++ ) { PoseSteering ps = this . trajectory . getPoseSteering ( ) [ i ] ; Geometry rect = makeFootprint ( ps ) ; if ( onePoly == null ) { onePoly = rect ; prevPoly = rect ; } else { Geometry auxPoly = prevPoly . union ( rect ) ; onePoly = onePoly . union ( auxPoly . convexHull ( ) ) ; prevPoly = rect ; } } return onePoly ; }
Get a {@link Geometry} representing the spatial envelope between two given indices.
@param indexFrom The starting index (inclusive).
@param indexTo The ending index (inclusive).
@return A {@link Geometry} representing the spatial envelope between two given indices.