MRPT  1.9.9
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mrpt::math::TPolygonWithPlane Class Reference

Detailed Description

Slightly heavyweight type to speed-up calculations with polygons in 3D.

See also
TPolygon3D,TPlane

Definition at line 32 of file geometry.h.

#include <mrpt/math/geometry.h>

Public Member Functions

 TPolygonWithPlane (const TPolygon3D &p)
 Constructor. More...
 
 TPolygonWithPlane ()=default
 Basic constructor. More...
 

Static Public Member Functions

static void getPlanes (const std::vector< TPolygon3D > &oldPolys, std::vector< TPolygonWithPlane > &newPolys)
 Static method for vectors. More...
 

Public Attributes

TPolygon3D poly
 Actual polygon. More...
 
TPlane plane
 Plane containing the polygon. More...
 
mrpt::math::TPose3D pose
 Plane's pose. More...
 
mrpt::math::TPose3D inversePose
 Plane's inverse pose. More...
 
TPolygon2D poly2D
 Polygon, after being projected to the plane using inversePose. More...
 

Constructor & Destructor Documentation

◆ TPolygonWithPlane() [1/2]

math::TPolygonWithPlane::TPolygonWithPlane ( const TPolygon3D p)

Constructor.

Takes a polygon and computes each parameter.

Definition at line 619 of file geometry.cpp.

References mrpt::math::TPose3D::fromHomogeneousMatrix(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPose3D::getInverseHomogeneousMatrix(), inversePose, plane, poly, poly2D, pose, and unsafeProjectPolygon().

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◆ TPolygonWithPlane() [2/2]

mrpt::math::TPolygonWithPlane::TPolygonWithPlane ( )
default

Basic constructor.

Needed to create containers

See also
TPolygonWithPlane(const TPolygon3D &)

Member Function Documentation

◆ getPlanes()

void math::TPolygonWithPlane::getPlanes ( const std::vector< TPolygon3D > &  oldPolys,
std::vector< TPolygonWithPlane > &  newPolys 
)
static

Static method for vectors.

Takes a set of polygons and creates every TPolygonWithPlane

Definition at line 630 of file geometry.cpp.

Member Data Documentation

◆ inversePose

mrpt::math::TPose3D mrpt::math::TPolygonWithPlane::inversePose

Plane's inverse pose.

See also
pose

Definition at line 42 of file geometry.h.

Referenced by intersect(), and TPolygonWithPlane().

◆ plane

TPlane mrpt::math::TPolygonWithPlane::plane

Plane containing the polygon.

Definition at line 38 of file geometry.h.

Referenced by intersect(), and TPolygonWithPlane().

◆ poly

TPolygon3D mrpt::math::TPolygonWithPlane::poly

Actual polygon.

Definition at line 36 of file geometry.h.

Referenced by intersect(), and TPolygonWithPlane().

◆ poly2D

TPolygon2D mrpt::math::TPolygonWithPlane::poly2D

Polygon, after being projected to the plane using inversePose.

See also
inversePose

Definition at line 45 of file geometry.h.

Referenced by intersect(), and TPolygonWithPlane().

◆ pose

mrpt::math::TPose3D mrpt::math::TPolygonWithPlane::pose

Plane's pose.

See also
inversePose

Definition at line 40 of file geometry.h.

Referenced by intersect(), and TPolygonWithPlane().




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