mrpt::math::TSegment2D Struct Reference

Detailed Description

2D segment, consisting of two points.

See also

TSegment3D,TLine2D,TPolygon2D,TPoint2D

Definition at line 20 of file TSegment2D.h.

#include <mrpt/math/TSegment2D.h>

Public Member Functions
double	length () const
	Segment length. More...
double	distance (const TPoint2D &point) const
	Distance to point. More...
double	signedDistance (const TPoint2D &point) const
	Distance with sign to point (sign indicates which side the point is). More...
bool	contains (const TPoint2D &point) const
	Check whether a point is inside a segment. More...
TPoint2D &	operator[] (size_t i)
	Access to points using operator[0-1]. More...
constexpr const TPoint2D &	operator[] (size_t i) const
	Access to points using operator[0-1]. More...
void	generate3DObject (TSegment3D &s) const
	Project into 3D space, setting the z to 0. More...
void	getCenter (TPoint2D &p) const
	Segment's central point. More...
	TSegment2D (const TPoint2D &p1, const TPoint2D &p2)
	Constructor from both points. More...
	TSegment2D ()=default
	Fast default constructor. More...
	TSegment2D (const TSegment3D &s)
	Explicit constructor from 3D object, discarding the z. More...
bool	operator< (const TSegment2D &s) const

Public Attributes
TPoint2D	point1
	Origin point. More...
TPoint2D	point2
	Destiny point. More...

Constructor & Destructor Documentation

TSegment2D() [1/3]

mrpt::math::TSegment2D::TSegment2D ( const TPoint2D &  p1, const TPoint2D &  p2  )

inline

Constructor from both points.

Definition at line 88 of file TSegment2D.h.

TSegment2D() [2/3]

mrpt::math::TSegment2D::TSegment2D ( )

default

Fast default constructor.

Initializes to garbage.

TSegment2D() [3/3]

mrpt::math::TSegment2D::TSegment2D ( const TSegment3D &  s )

explicit

Explicit constructor from 3D object, discarding the z.

Definition at line 625 of file TPoseOrPoint.cpp.

References point1, and point2.

Member Function Documentation

contains()

bool mrpt::math::TSegment2D::contains

(

const TPoint2D &

point

)

const

Check whether a point is inside a segment.

Definition at line 616 of file TPoseOrPoint.cpp.

References mrpt::math::distance(), mrpt::math::getEpsilon(), point1, and point2.

Referenced by mrpt::math::intersect(), and intersect().

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distance()

double mrpt::math::TSegment2D::distance

(

const TPoint2D &

point

)

const

Distance to point.

Definition at line 590 of file TPoseOrPoint.cpp.

References signedDistance().

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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generate3DObject()

void mrpt::math::TSegment2D::generate3DObject

(

TSegment3D &

s

)

const

Project into 3D space, setting the z to 0.

Definition at line 621 of file TPoseOrPoint.cpp.

getCenter()

void mrpt::math::TSegment2D::getCenter ( TPoint2D &  p ) const

inline

Segment's central point.

Definition at line 80 of file TSegment2D.h.

References point1, point2, mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by mrpt::math::getSegmentBisector().

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length()

double mrpt::math::TSegment2D::length

(

)

const

Segment length.

Definition at line 589 of file TPoseOrPoint.cpp.

References mrpt::math::distance(), point1, and point2.

Referenced by signedDistance().

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operator<()

bool mrpt::math::TSegment2D::operator<

(

const TSegment2D &

s

)

const

Definition at line 633 of file TPoseOrPoint.cpp.

References point1, and point2.

operator[]() [1/2]

TPoint2D& mrpt::math::TSegment2D::operator[] ( size_t  i )

inline

Access to points using operator[0-1].

Definition at line 48 of file TSegment2D.h.

References point1, and point2.

operator[]() [2/2]

constexpr const TPoint2D& mrpt::math::TSegment2D::operator[] ( size_t  i ) const

inline

Access to points using operator[0-1].

Definition at line 61 of file TSegment2D.h.

References point1, and point2.

signedDistance()

double mrpt::math::TSegment2D::signedDistance

(

const TPoint2D &

point

)

const

Distance with sign to point (sign indicates which side the point is).

Definition at line 594 of file TPoseOrPoint.cpp.

References mrpt::math::distance(), length(), min, point1, point2, mrpt::math::TLine2D::signedDistance(), and mrpt::square().

Referenced by distance().

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Member Data Documentation

point1

TPoint2D mrpt::math::TSegment2D::point1

Origin point.

Definition at line 26 of file TSegment2D.h.

Referenced by contains(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), getCenter(), mrpt::math::getSegmentBisector(), length(), mrpt::math::operator!=(), operator<(), mrpt::math::operator==(), operator[](), signedDistance(), TSegment2D(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

point2

TPoint2D mrpt::math::TSegment2D::point2

Destiny point.

Definition at line 30 of file TSegment2D.h.

Referenced by contains(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), getCenter(), mrpt::math::getSegmentBisector(), length(), mrpt::math::operator!=(), operator<(), mrpt::math::operator==(), operator[](), signedDistance(), TSegment2D(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().