mrpt::math::TLine3D Struct Reference

Detailed Description

3D line, represented by a base point and a director vector.

See also

TLine2D,TSegment3D,TPlane,TPolygon3D,TPoint3D

Definition at line 19 of file TLine3D.h.

#include <mrpt/math/TLine3D.h>

Public Member Functions
	TLine3D ()=default
	Fast default constructor. More...
	TLine3D (const TPoint3D &p1, const TPoint3D &p2)
	Constructor from two points, through which the line will pass. More...
	TLine3D (const TSegment3D &s)
	Constructor from 3D segment. More...
	TLine3D (const TLine2D &l)
	Constructor from 2D object. More...
bool	contains (const TPoint3D &point) const
	Check whether a point is inside the line. More...
double	distance (const TPoint3D &point) const
	Distance between the line and a point. More...
void	unitarize ()
	Unitarize director vector. More...
void	getDirectorVector (double(&vector)[3]) const
	Get director vector. More...
const TVector3D &	getDirectorVector () const
	Get director vector (may be NOT unitary if not set so by the user) More...
void	getUnitaryDirectorVector (double(&vector)[3])
	Unitarize and then get director vector. More...
void	generate2DObject (TLine2D &l) const
	Project into 2D space, discarding the Z coordinate. More...

Static Public Member Functions
static TLine3D	FromPointAndDirector (const TPoint3D &basePoint, const TVector3D &directorVector)
	Static constructor from a point and a director vector. More...
static TLine3D	FromTwoPoints (const TPoint3D &p1, const TPoint3D &p2)
	Static constructor from two points. More...

Public Attributes
TPoint3D	pBase
	Base point. More...
TVector3D	director {.0, .0, .0}
	Director vector. More...

Constructor & Destructor Documentation

TLine3D() [1/4]

mrpt::math::TLine3D::TLine3D ( )

default

Fast default constructor.

Initializes to all zeros.

Referenced by FromTwoPoints().

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TLine3D() [2/4]

TLine3D::TLine3D	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)

Constructor from two points, through which the line will pass.

Exceptions

std::logic_error

if both points are the same.

Definition at line 76 of file TLine3D.cpp.

References director, mrpt::math::distance(), mrpt::math::getEpsilon(), pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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TLine3D() [3/4]

TLine3D::TLine3D ( const TSegment3D &  s )

explicit

Constructor from 3D segment.

Definition at line 85 of file TLine3D.cpp.

References director, pBase, mrpt::math::TSegment3D::point1, mrpt::math::TSegment3D::point2, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

TLine3D() [4/4]

TLine3D::TLine3D ( const TLine2D &  l )

explicit

Constructor from 2D object.

Zeroes the z.

Definition at line 92 of file TLine3D.cpp.

References mrpt::math::TLine2D::coefs, director, mrpt::math::getEpsilon(), pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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Member Function Documentation

contains()

bool TLine3D::contains

(

const TPoint3D &

point

)

const

Check whether a point is inside the line.

Definition at line 39 of file TLine3D.cpp.

References director, mrpt::math::getEpsilon(), pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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distance()

double TLine3D::distance

(

const TPoint3D &

point

)

const

Distance between the line and a point.

Definition at line 54 of file TLine3D.cpp.

References director, pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::math::TSegment3D::distance(), and mrpt::math::distance().

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FromPointAndDirector()

TLine3D TLine3D::FromPointAndDirector ( const TPoint3D &  basePoint, const TVector3D &  directorVector  )

static

Static constructor from a point and a director vector.

Note

[New in MRPT 2.0.4]

Definition at line 25 of file TLine3D.cpp.

References director, and pBase.

FromTwoPoints()

TLine3D TLine3D::FromTwoPoints ( const TPoint3D &  p1, const TPoint3D &  p2  )

static

Static constructor from two points.

Note

[New in MRPT 2.0.4]

Definition at line 34 of file TLine3D.cpp.

References TLine3D().

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generate2DObject()

void TLine3D::generate2DObject

(

TLine2D &

l

)

const

Project into 2D space, discarding the Z coordinate.

Exceptions

std::logic_error

if the line's director vector is orthogonal to the XY plane.

Definition at line 23 of file TLine3D.cpp.

Referenced by intersect().

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getDirectorVector() [1/2]

void mrpt::math::TLine3D::getDirectorVector ( double(&)  vector[3] ) const

inline

Get director vector.

Definition at line 61 of file TLine3D.h.

References director.

getDirectorVector() [2/2]

const TVector3D& mrpt::math::TLine3D::getDirectorVector ( ) const

inline

Get director vector (may be NOT unitary if not set so by the user)

See also

getUnitaryDirectorVector(), unitarize()

Definition at line 67 of file TLine3D.h.

References director.

Referenced by getUnitaryDirectorVector().

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getUnitaryDirectorVector()

void mrpt::math::TLine3D::getUnitaryDirectorVector ( double(&)  vector[3] )

inline

Unitarize and then get director vector.

Definition at line 72 of file TLine3D.h.

References getDirectorVector(), and unitarize().

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unitarize()

void TLine3D::unitarize

(

)

Unitarize director vector.

Definition at line 70 of file TLine3D.cpp.

References ASSERT_, director, mrpt::math::norm(), and mrpt::math::TPoint3D_< T >::norm().

Referenced by getUnitaryDirectorVector(), mrpt::math::intersect(), mrpt::math::project3D(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), mrpt::opengl::CEllipsoid2D::traceRay(), and mrpt::math::traceRay().

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Member Data Documentation

director

TVector3D mrpt::math::TLine3D::director {.0, .0, .0}

Director vector.

Definition at line 49 of file TLine3D.h.

Referenced by contains(), createFromPoseAndAxis(), mrpt::math::createFromPoseAndVector(), distance(), mrpt::math::distance(), FromPointAndDirector(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::math::getAngle(), getDirectorVector(), mrpt::math::getRegressionLine(), mrpt::math::intersect(), intersect(), intersectInCommonLine(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project3D(), mrpt::math::TLine2D::TLine2D(), TLine3D(), mrpt::math::TPlane::TPlane(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), mrpt::opengl::CEllipsoid2D::traceRay(), and unitarize().

pBase

TPoint3D mrpt::math::TLine3D::pBase

Base point.

Definition at line 47 of file TLine3D.h.

Referenced by mrpt::math::TPlane::contains(), contains(), createFromPoseAndAxis(), mrpt::math::createFromPoseAndVector(), mrpt::math::TPlane::distance(), distance(), mrpt::math::distance(), FromPointAndDirector(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::math::getRegressionLine(), mrpt::math::intersect(), intersect(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project3D(), mrpt::math::TLine2D::TLine2D(), TLine3D(), mrpt::math::TPlane::TPlane(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), and mrpt::opengl::CEllipsoid2D::traceRay().