I'm using CGAL (v. 4.14-2) to compute the visibility region (polygon) within a simple polygon from one of its vertices, using the Simple_polygon_visibility_2 class.
On a particular combination of polygon/vertex, I'm getting the following assertion error:
terminate called after throwing an instance of 'CGAL::Assertion_exception' what(): CGAL ERROR: assertion violation! Expr: k+1<vertices.size() File: /usr/include/CGAL/Simple_polygon_visibility_2.h Line: 678
This occurs in the method scan_edges of the class Simple_polygon_visibility_2, it seems like there should be some intersection with the given segment/ray, but none was found.
When I run the same code with the class Triangular_expansion_visibility_2, it seems to work, giving the output: