Detailed Description

3D Plane, represented by its equation $Ax+By+Cz+D=0$

See also: TSegment3D,TLine3D,TPolygon3D,TPoint3D

Definition at line 22 of file TPlane.h.

#include <mrpt/math/TPlane.h>

Public Member Functions
double	evaluatePoint (const TPoint3D &point) const
	Evaluate a point in the plane's equation. More...

bool	contains (const TPoint3D &point) const
	Check whether a point is contained into the plane. More...

bool	contains (const TSegment3D &segment) const
	Check whether a segment is fully contained into the plane. More...

bool	contains (const TLine3D &line) const
	Check whether a line is fully contained into the plane. More...

double	distance (const TPoint3D &point) const
	Distance to 3D point. More...

double	distance (const TLine3D &line) const
	Distance to 3D line. More...

TVector3D	getNormalVector () const
	Get plane's normal vector. More...

void	unitarize ()
	Unitarize normal vector. More...

void	getAsPose3D (mrpt::math::TPose3D &outPose) const

void	getAsPose3DForcingOrigin (const TPoint3D &center, TPose3D &pose) const

TVector3D	getUnitaryNormalVector () const
	Get normal vector. More...

	TPlane (const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)
	Defines a plane which contains these three points. More...

	TPlane (const TPoint3D &p1, const TVector3D &normal)
	Defines a plane given a point and a normal vector (must not be unit). More...

	TPlane (const TPoint3D &p1, const TLine3D &r2)
	Defines a plane which contains this point and this line. More...

	TPlane (const TLine3D &r1, const TLine3D &r2)
	Defines a plane which contains the two lines. More...

	TPlane ()=default
	Fast default constructor. More...

constexpr	TPlane (double A, double B, double C, double D)
	Constructor from plane coefficients. More...

	TPlane (const double(&vec)[4])
	Constructor from an array of coefficients. More...

Public Attributes
std::array< double, 4 >	coefs {{.0, .0, .0, .0}}
	Plane coefficients, stored as an array: $\left[A,B,C,D\right]$ . More...

Constructor & Destructor Documentation

◆ TPlane() [1/7]

TPlane::TPlane	(	const TPoint3D &	p1,
		const TPoint3D &	p2,
		const TPoint3D &	p3
	)

Defines a plane which contains these three points.

Exceptions

std::logic_error if the points are linearly dependants.

Definition at line 95 of file TPlane.cpp.

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

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◆ TPlane() [2/7]

TPlane::TPlane	(	const TPoint3D &	p1,
		const TVector3D &	normal
	)

Defines a plane given a point and a normal vector (must not be unit).

Exceptions

std::logic_error if the normal vector is null

Definition at line 124 of file TPlane.cpp.

References ASSERT_ABOVE_, coefs, mrpt::math::getEpsilon(), mrpt::math::TPoint3D_< T >::norm(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ TPlane() [3/7]

TPlane::TPlane	(	const TPoint3D &	p1,
		const TLine3D &	r2
	)

Defines a plane which contains this point and this line.

Exceptions

std::logic_error if the point is inside the line.

Definition at line 111 of file TPlane.cpp.

References coefs, mrpt::math::TLine3D::director, mrpt::math::getEpsilon(), mrpt::math::TLine3D::pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ TPlane() [4/7]

TPlane::TPlane	(	const TLine3D &	r1,
		const TLine3D &	r2
	)

Defines a plane which contains the two lines.

Exceptions

std::logic_error if the lines do not cross.

Definition at line 136 of file TPlane.cpp.

References coefs, mrpt::math::TLine3D::contains(), mrpt::math::crossProduct3D(), mrpt::math::TLine3D::director, evaluatePoint(), mrpt::math::getEpsilon(), mrpt::math::TLine3D::pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ TPlane() [5/7]

mrpt::math::TPlane::TPlane ( )

default

Fast default constructor.

Initializes to garbage.

◆ TPlane() [6/7]

constexpr mrpt::math::TPlane::TPlane	(	double	A,
		double	B,
		double	C,
		double	D
	)

inline

Constructor from plane coefficients.

Definition at line 82 of file TPlane.h.

◆ TPlane() [7/7]

mrpt::math::TPlane::TPlane ( const double(&) vec[4] )

inline

Constructor from an array of coefficients.

Definition at line 88 of file TPlane.h.

References coefs.

Member Function Documentation

◆ contains() [1/3]

bool TPlane::contains ( const TPoint3D & point ) const

Check whether a point is contained into the plane.

Definition at line 28 of file TPlane.cpp.

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

Referenced by contains(), getAsPose3DForcingOrigin(), and mrpt::math::intersect().

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◆ contains() [2/3]

bool mrpt::math::TPlane::contains ( const TSegment3D & segment ) const

inline

Check whether a segment is fully contained into the plane.

Definition at line 36 of file TPlane.h.

References contains(), mrpt::math::TSegment3D::point1, and mrpt::math::TSegment3D::point2.

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◆ contains() [3/3]

bool TPlane::contains ( const TLine3D & line ) const

Check whether a line is fully contained into the plane.

Definition at line 32 of file TPlane.cpp.

References contains(), mrpt::math::getAngle(), mrpt::math::getEpsilon(), and mrpt::math::TLine3D::pBase.

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◆ distance() [1/2]

double TPlane::distance ( const TPoint3D & point ) const

Distance to 3D point.

Definition at line 38 of file TPlane.cpp.

References coefs, and evaluatePoint().

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

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◆ distance() [2/2]

double TPlane::distance ( const TLine3D & line ) const

Distance to 3D line.

Will be zero if the line is not parallel to the plane.

Definition at line 42 of file TPlane.cpp.

References distance(), mrpt::math::getAngle(), mrpt::math::getEpsilon(), and mrpt::math::TLine3D::pBase.

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◆ evaluatePoint()

double TPlane::evaluatePoint ( const TPoint3D & point ) const

Evaluate a point in the plane's equation.

Definition at line 24 of file TPlane.cpp.

References coefs.

Referenced by mrpt::opengl::CPolyhedron::augment(), distance(), mrpt::math::intersect(), mrpt::math::project3D(), and TPlane().

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◆ getAsPose3D()

void TPlane::getAsPose3D ( mrpt::math::TPose3D & outPose ) const

Definition at line 73 of file TPlane.cpp.

References coefs, mrpt::math::TPose3D::fromHomogeneousMatrix(), mrpt::math::generateAxisBaseFromDirectionAndAxis(), mrpt::math::getEpsilon(), and getUnitaryNormalVector().

Referenced by mrpt::math::TPolygon3D::contains(), mrpt::math::getAngleBisector(), intersectInCommonPlane(), mrpt::math::project3D(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

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◆ getAsPose3DForcingOrigin()

void TPlane::getAsPose3DForcingOrigin	(	const TPoint3D &	center,
		TPose3D &	pose
	)		const

Definition at line 85 of file TPlane.cpp.

References contains(), mrpt::math::TPose3D::fromHomogeneousMatrix(), mrpt::math::generateAxisBaseFromDirectionAndAxis(), and getUnitaryNormalVector().

Referenced by mrpt::math::TPolygon3D::distance(), mrpt::math::intersect(), and mrpt::math::splitInConvexComponents().

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◆ getNormalVector()

TVector3D TPlane::getNormalVector ( ) const

Get plane's normal vector.

Definition at line 49 of file TPlane.cpp.

References coefs.

◆ getUnitaryNormalVector()

TVector3D TPlane::getUnitaryNormalVector ( ) const

Get normal vector.

Definition at line 56 of file TPlane.cpp.

References ASSERT_ABOVE_, coefs, and mrpt::math::getEpsilon().

Referenced by getAsPose3D(), and getAsPose3DForcingOrigin().

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◆ unitarize()

void TPlane::unitarize ( )

Unitarize normal vector.

Definition at line 66 of file TPlane.cpp.

References coefs.

Referenced by mrpt::opengl::CPolyhedron::augment(), mrpt::math::getSegmentBisector(), and mrpt::math::project3D().

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Member Data Documentation

◆ coefs

std::array<double, 4> mrpt::math::TPlane::coefs {{.0, .0, .0, .0}}

Plane coefficients, stored as an array: $\left[A,B,C,D\right]$ .

Definition at line 26 of file TPlane.h.

Referenced by mrpt::opengl::CPolyhedron::augment(), createPlaneFromPoseAndAxis(), mrpt::math::createPlaneFromPoseAndNormal(), distance(), mrpt::math::distance(), evaluatePoint(), mrpt::math::getAngle(), getAsPose3D(), mrpt::opengl::CPolyhedron::getDual(), getNormalVector(), mrpt::math::getRegressionPlane(), mrpt::math::getSegmentBisector(), getUnitaryNormalVector(), mrpt::math::intersect(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project3D(), mrpt::math::ransac3Dplane_distance(), mrpt::math::ransac3Dplane_fit(), TPlane(), and unitarize().

Detailed Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ TPlane() [1/7]

◆ TPlane() [2/7]

◆ TPlane() [3/7]

◆ TPlane() [4/7]

◆ TPlane() [5/7]

◆ TPlane() [6/7]

◆ TPlane() [7/7]

Member Function Documentation

◆ contains() [1/3]

◆ contains() [2/3]

◆ contains() [3/3]

◆ distance() [1/2]

◆ distance() [2/2]

◆ evaluatePoint()

◆ getAsPose3D()

◆ getAsPose3DForcingOrigin()

◆ getNormalVector()

◆ getUnitaryNormalVector()

◆ unitarize()

Member Data Documentation

◆ coefs