MRPT  2.0.4
TPolygonWithPlane.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/math/TPlane.h>
12 #include <mrpt/math/TPolygon2D.h>
13 #include <mrpt/math/TPolygon3D.h>
14 #include <mrpt/math/TPose3D.h>
15 #include <vector>
16 
17 namespace mrpt::math
18 {
19 /** \addtogroup geometry_grp
20  * @{ */
21 
22 /** Slightly heavyweight type to speed-up calculations with polygons in 3D
23  * \sa TPolygon3D,TPlane
24  */
26 {
27  public:
28  /** Actual polygon. */
30  /** Plane containing the polygon. */
32  /** Plane's pose. \sa inversePose */
34  /** Plane's inverse pose. \sa pose */
36  /** Polygon, after being projected to the plane using inversePose. \sa
37  * inversePose */
39  /** Constructor. Takes a polygon and computes each parameter. */
40  TPolygonWithPlane(const TPolygon3D& p);
41  /** Basic constructor. Needed to create containers \sa
42  * TPolygonWithPlane(const TPolygon3D &) */
43  TPolygonWithPlane() = default;
44  /** Static method for vectors. Takes a set of polygons and creates every
45  * TPolygonWithPlane */
46  static void getPlanes(
47  const std::vector<TPolygon3D>& oldPolys,
48  std::vector<TPolygonWithPlane>& newPolys);
49 };
50 
51 /** @} */
52 
53 } // namespace mrpt::math
mrpt::math::TPose3D inversePose
Plane&#39;s inverse pose.
Slightly heavyweight type to speed-up calculations with polygons in 3D.
This base provides a set of functions for maths stuff.
TPolygon3D poly
Actual polygon.
3D Plane, represented by its equation
Definition: TPlane.h:22
TPolygon2D poly2D
Polygon, after being projected to the plane using inversePose.
TPolygonWithPlane()=default
Basic constructor.
mrpt::math::TPose3D pose
Plane&#39;s pose.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Definition: TPose3D.h:24
static void getPlanes(const std::vector< TPolygon3D > &oldPolys, std::vector< TPolygonWithPlane > &newPolys)
Static method for vectors.
TPlane plane
Plane containing the polygon.
2D polygon, inheriting from std::vector<TPoint2D>.
Definition: TPolygon2D.h:21
3D polygon, inheriting from std::vector<TPoint3D>
Definition: TPolygon3D.h:20



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