geometry.cpp File Reference

#include "math-precomp.h"
#include <mrpt/math/CMatrixDynamic.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/CPolygon.h>
#include <mrpt/math/CSparseMatrixTemplate.h>
#include <mrpt/math/CVectorFixed.h>
#include <mrpt/math/TLine2D.h>
#include <mrpt/math/TLine3D.h>
#include <mrpt/math/TObject2D.h>
#include <mrpt/math/TObject3D.h>
#include <mrpt/math/TPose2D.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/math/data_utils.h>
#include <mrpt/math/geometry.h>
#include <mrpt/math/ops_containers.h>
#include <Eigen/Dense>

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Classes
struct	T2ListsOfSegments
struct	TCommonRegion
struct	TTempIntersection
struct	TSegmentWithLine
struct	MatchingVertex
class	FCreatePolygon
class	FUnprojectPolygon2D

Functions
template<class T2D , class U2D , class T3D , class U3D >
bool	intersectInCommonPlane (const T3D &o1, const U3D &o2, const mrpt::math::TPlane &p, mrpt::math::TObject3D &obj)
bool	intersectInCommonLine (const mrpt::math::TSegment3D &s1, const mrpt::math::TSegment3D &s2, const mrpt::math::TLine3D &lin, mrpt::math::TObject3D &obj)
bool	intersectInCommonLine (const TSegment2D &s1, const TSegment2D &s2, const TLine2D &lin, TObject2D &obj)
void	unsafeProjectPoint (const TPoint3D &point, const TPose3D &pose, TPoint2D &newPoint)
bool	intersect (const TPolygonWithPlane &p1, const TLine3D &l2, double &d, double bestKnown)
bool	intersect (const TPolygonWithPlane &p1, const TPolygonWithPlane &p2, TObject3D &obj)
void	createFromPoseAndAxis (const TPose3D &p, TLine3D &r, size_t axis)
bool	intersect (const TSegmentWithLine &s1, const TSegmentWithLine &s2, TObject2D &obj)
void	getSegmentsWithLine (const TPolygon2D &poly, vector< TSegmentWithLine > &segs)
char	fromObject (const TObject2D &obj)
bool	intersectAux (const TPolygon3D &p1, const TPlane &pl1, const TPolygon3D &p2, const TPlane &pl2, TObject3D &obj)
bool	compatibleBounds (const TPoint3D &min1, const TPoint3D &max1, const TPoint3D &min2, const TPoint3D &max2)
void	getPlanes (const std::vector< TPolygon3D > &polys, std::vector< TPlane > &planes)
void	getMinAndMaxBounds (const std::vector< TPolygon3D > &v1, std::vector< TPoint3D > &minP, std::vector< TPoint3D > &maxP)
void	createPlaneFromPoseAndAxis (const TPose3D &pose, TPlane &plane, size_t axis)
template<class T >
size_t	getIndexOfMin (const T &e1, const T &e2, const T &e3)
bool	firstOrNonPresent (size_t i, const std::vector< MatchingVertex > &v)
bool	depthFirstSearch (const CSparseMatrixTemplate< unsigned char > &mat, std::vector< std::vector< MatchingVertex >> &res, std::vector< bool > &used, size_t searching, unsigned char mask, std::vector< MatchingVertex > &current)
void	depthFirstSearch (const CSparseMatrixTemplate< unsigned char > &mat, std::vector< std::vector< MatchingVertex >> &res, std::vector< bool > &used)
bool	intersect (const TLine2D &l1, const TSegmentWithLine &s2, TObject2D &obj)
bool	intersect (const TSegmentWithLine &s1, const TLine2D &l2, TObject2D &obj)

Variables
static double	geometryEpsilon = 1e-5

Function Documentation

compatibleBounds()

bool compatibleBounds	(	const TPoint3D &	min1,
		const TPoint3D &	max1,
		const TPoint3D &	min2,
		const TPoint3D &	max2
	)

Definition at line 1529 of file geometry.cpp.

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

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createFromPoseAndAxis()

void createFromPoseAndAxis	(	const TPose3D &	p,
		TLine3D &	r,
		size_t	axis
	)

Definition at line 905 of file geometry.cpp.

References mrpt::math::TLine3D::director, mrpt::math::TPose3D::getHomogeneousMatrix(), and mrpt::math::TLine3D::pBase.

Referenced by mrpt::math::createFromPoseX(), mrpt::math::createFromPoseY(), and mrpt::math::createFromPoseZ().

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createPlaneFromPoseAndAxis()

void createPlaneFromPoseAndAxis	(	const TPose3D &	pose,
		TPlane &	plane,
		size_t	axis
	)

Definition at line 1952 of file geometry.cpp.

References mrpt::math::TPlane::coefs, and mrpt::math::TPose3D::getHomogeneousMatrix().

Referenced by mrpt::math::createPlaneFromPoseXY(), mrpt::math::createPlaneFromPoseXZ(), and mrpt::math::createPlaneFromPoseYZ().

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depthFirstSearch() [1/2]

bool depthFirstSearch	(	const CSparseMatrixTemplate< unsigned char > &	mat,
		std::vector< std::vector< MatchingVertex >> &	res,
		std::vector< bool > &	used,
		size_t	searching,
		unsigned char	mask,
		std::vector< MatchingVertex > &	current
	)

Definition at line 2131 of file geometry.cpp.

References mrpt::math::CSparseMatrixTemplate< T >::cols(), firstOrNonPresent(), and mrpt::math::CSparseMatrixTemplate< T >::isNotNull().

Referenced by mrpt::math::assemblePolygons(), and depthFirstSearch().

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depthFirstSearch() [2/2]

void depthFirstSearch	(	const CSparseMatrixTemplate< unsigned char > &	mat,
		std::vector< std::vector< MatchingVertex >> &	res,
		std::vector< bool > &	used
	)

Definition at line 2175 of file geometry.cpp.

References depthFirstSearch().

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firstOrNonPresent()

bool firstOrNonPresent ( size_t  i, const std::vector< MatchingVertex > &  v  )

inline

Definition at line 2124 of file geometry.cpp.

Referenced by depthFirstSearch().

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fromObject()

char fromObject ( const TObject2D &  obj )

inline

Definition at line 1364 of file geometry.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, and mrpt::math::TObject2D::getType().

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

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getIndexOfMin()

template<class T >

size_t getIndexOfMin ( const T &  e1, const T &  e2, const T &  e3  )

inline

Definition at line 2040 of file geometry.cpp.

getMinAndMaxBounds()

void getMinAndMaxBounds	(	const std::vector< TPolygon3D > &	v1,
		std::vector< TPoint3D > &	minP,
		std::vector< TPoint3D > &	maxP
	)

Definition at line 1561 of file geometry.cpp.

References mrpt::math::getPrismBounds().

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

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getPlanes()

void getPlanes ( const std::vector< TPolygon3D > &  polys, std::vector< TPlane > &  planes  )

inline

Definition at line 1552 of file geometry.cpp.

References mrpt::math::getRegressionPlane().

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

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getSegmentsWithLine()

void getSegmentsWithLine	(	const TPolygon2D &	poly,
		vector< TSegmentWithLine > &	segs
	)

Definition at line 1355 of file geometry.cpp.

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

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intersect() [1/5]

bool intersect	(	const TPolygonWithPlane &	p1,
		const TLine3D &	l2,
		double &	d,
		double	bestKnown
	)

Definition at line 539 of file geometry.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TLine3D::director, geometryEpsilon, mrpt::math::TObject3D::getPoint(), mrpt::math::TPolygonWithPlane::inversePose, mrpt::math::TLine3D::pBase, mrpt::math::TPolygonWithPlane::plane, mrpt::math::TPolygonWithPlane::poly, unsafeProjectPoint(), and mrpt::math::internal::unsafeProjectPolygon().

Referenced by mrpt::math::getAngleBisector(), mrpt::math::intersect(), intersect(), intersectAux(), intersectInCommonPlane(), mrpt::math::splitInConvexComponents(), and mrpt::math::traceRay().

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intersect() [2/5]

bool intersect	(	const TPolygonWithPlane &	p1,
		const TPolygonWithPlane &	p2,
		TObject3D &	obj
	)

Definition at line 564 of file geometry.cpp.

References mrpt::math::TLine3D::generate2DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TObject3D::getLine(), mrpt::math::TObject3D::getPoint(), mrpt::math::TObject3D::getSegment(), intersect(), intersectInCommonLine(), mrpt::math::TPolygonWithPlane::inversePose, mrpt::math::TPolygonWithPlane::plane, mrpt::math::TPolygonWithPlane::poly2D, mrpt::math::TPolygonWithPlane::pose, and mrpt::math::project3D().

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intersect() [3/5]

bool intersect	(	const TSegmentWithLine &	s1,
		const TSegmentWithLine &	s2,
		TObject2D &	obj
	)

Definition at line 1345 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), mrpt::math::TObject2D::getPoint(), intersect(), intersectInCommonLine(), mrpt::math::TObject2D::isLine(), TSegmentWithLine::line, and TSegmentWithLine::segment.

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intersect() [4/5]

bool intersect	(	const TLine2D &	l1,
		const TSegmentWithLine &	s2,
		TObject2D &	obj
	)

Definition at line 2265 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), mrpt::math::TObject2D::getPoint(), intersect(), mrpt::math::TObject2D::isLine(), TSegmentWithLine::line, and TSegmentWithLine::segment.

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intersect() [5/5]

bool intersect ( const TSegmentWithLine &  s1, const TLine2D &  l2, TObject2D &  obj  )

inline

Definition at line 2285 of file geometry.cpp.

References intersect().

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intersectAux()

bool intersectAux	(	const TPolygon3D &	p1,
		const TPlane &	pl1,
		const TPolygon3D &	p2,
		const TPlane &	pl2,
		TObject3D &	obj
	)

Definition at line 1498 of file geometry.cpp.

References mrpt::math::TObject3D::getLine(), mrpt::math::TObject3D::getPoint(), mrpt::math::TObject3D::getSegment(), intersect(), intersectInCommonLine(), and mrpt::math::TObject3D::isPlane().

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

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intersectInCommonLine() [1/2]

bool intersectInCommonLine	(	const mrpt::math::TSegment3D &	s1,
		const mrpt::math::TSegment3D &	s2,
		const mrpt::math::TLine3D &	lin,
		mrpt::math::TObject3D &	obj
	)

Definition at line 476 of file geometry.cpp.

References mrpt::math::TLine3D::director, and geometryEpsilon.

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

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intersectInCommonLine() [2/2]

bool intersectInCommonLine	(	const TSegment2D &	s1,
		const TSegment2D &	s2,
		const TLine2D &	lin,
		TObject2D &	obj
	)

Definition at line 500 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, and geometryEpsilon.

intersectInCommonPlane()

template<class T2D , class U2D , class T3D , class U3D >

bool intersectInCommonPlane	(	const T3D &	o1,
		const U3D &	o2,
		const mrpt::math::TPlane &	p,
		mrpt::math::TObject3D &	obj
	)

Definition at line 447 of file geometry.cpp.

References mrpt::math::TObject2D::generate3DObject(), mrpt::math::TPlane::getAsPose3D(), intersect(), and mrpt::math::project3D().

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unsafeProjectPoint()

void unsafeProjectPoint ( const TPoint3D &  point, const TPose3D &  pose, TPoint2D &  newPoint  )

inline

Definition at line 523 of file geometry.cpp.

References mrpt::math::TPose3D::composePoint(), mrpt::math::TPoint2D_data< T >::x, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint2D_data< T >::y, and mrpt::math::TPoint3D_data< T >::y.

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

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Variable Documentation

geometryEpsilon

double geometryEpsilon = 1e-5

static

Definition at line 32 of file geometry.cpp.

Referenced by mrpt::math::areAligned(), mrpt::math::assemblePolygons(), mrpt::math::conformAPlane(), mrpt::math::distance(), mrpt::math::generateAxisBaseFromDirectionAndAxis(), mrpt::math::getAngle(), mrpt::math::getAngleBisector(), mrpt::math::getEpsilon(), mrpt::math::getRegressionPlane(), mrpt::math::intersect(), intersect(), intersectInCommonLine(), mrpt::math::setEpsilon(), and mrpt::math::splitInConvexComponents().