mrpt::math::TLine2D Struct Reference

Detailed Description

2D line without bounds, represented by its equation .

See also

TLine3D,TSegment2D,TPolygon2D,TPoint2D

Definition at line 1155 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
double	evaluatePoint (const TPoint2D &point) const
	Evaluate point in the line's equation. More...
bool	contains (const TPoint2D &point) const
	Check whether a point is inside the line. More...
double	distance (const TPoint2D &point) const
	Distance from a given point. More...
double	signedDistance (const TPoint2D &point) const
	Distance with sign from a given point (sign indicates side). More...
void	getNormalVector (double(&vector)[2]) const
	Get line's normal vector. More...
void	unitarize ()
	Unitarize line's normal vector. More...
void	getUnitaryNormalVector (double(&vector)[2])
	Get line's normal vector after unitarizing line. More...
void	getDirectorVector (double(&vector)[2]) const
	Get line's director vector. More...
void	getUnitaryDirectorVector (double(&vector)[2])
	Unitarize line and then get director vector. More...
void	generate3DObject (TLine3D &l) const
	Project into 3D space, setting the z to 0. More...
	TLine2D (const TPoint2D &p1, const TPoint2D &p2)
	Constructor from two points, through which the line will pass. More...
	TLine2D (const TSegment2D &s)
	Constructor from a segment. More...
	TLine2D ()
	Fast default constructor. More...
constexpr	TLine2D (double A, double B, double C)
	Constructor from line's coefficients. More...
	TLine2D (const TLine3D &l)
	Construction from 3D object, discarding the Z. More...
void	getAsPose2D (TPose2D &outPose) const
void	getAsPose2DForcingOrigin (const TPoint2D &origin, TPose2D &outPose) const

Public Attributes
double	coefs [3]
	Line coefficients, stored as an array: . More...

Constructor & Destructor Documentation

TLine2D() [1/5]

mrpt::math::TLine2D::TLine2D	(	const TPoint2D &	p1,
		const TPoint2D &	p2
	)

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

Exceptions

logic_error

if both points are the same

Definition at line 719 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

TLine2D() [2/5]

mrpt::math::TLine2D::TLine2D ( const TSegment2D &  s )

explicit

Constructor from a segment.

Definition at line 726 of file lightweight_geom_data.cpp.

References coefs.

TLine2D() [3/5]

mrpt::math::TLine2D::TLine2D ( )

inline

Fast default constructor.

Initializes to garbage.

Definition at line 1222 of file lightweight_geom_data.h.

TLine2D() [4/5]

constexpr mrpt::math::TLine2D::TLine2D ( double  A, double  B, double  C  )

inline

Constructor from line's coefficients.

Definition at line 1226 of file lightweight_geom_data.h.

TLine2D() [5/5]

mrpt::math::TLine2D::TLine2D ( const TLine3D &  l )

explicit

Construction from 3D object, discarding the Z.

Exceptions

std::logic_error

if the line is normal to the XY plane.

Definition at line 733 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::TLine3D::director, mrpt::math::getEpsilon(), mrpt::math::TLine3D::pBase, mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

Member Function Documentation

contains()

bool mrpt::math::TLine2D::contains

(

const TPoint2D &

point

)

const

Check whether a point is inside the line.

Definition at line 663 of file lightweight_geom_data.cpp.

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

Referenced by getAsPose2DForcingOrigin(), and mrpt::math::intersect().

distance()

double mrpt::math::TLine2D::distance

(

const TPoint2D &

point

)

const

Distance from a given point.

Definition at line 667 of file lightweight_geom_data.cpp.

References coefs, and evaluatePoint().

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

evaluatePoint()

double mrpt::math::TLine2D::evaluatePoint

(

const TPoint2D &

point

)

const

Evaluate point in the line's equation.

Definition at line 659 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by distance(), mrpt::math::TPolygon2D::isConvex(), and signedDistance().

generate3DObject()

void mrpt::math::TLine2D::generate3DObject

(

TLine3D &

l

)

const

Project into 3D space, setting the z to 0.

Definition at line 692 of file lightweight_geom_data.cpp.

getAsPose2D()

void mrpt::math::TLine2D::getAsPose2D

(

TPose2D &

outPose

)

const

Definition at line 693 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::getEpsilon(), mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by mrpt::math::intersect(), and mrpt::math::project2D().

getAsPose2DForcingOrigin()

void mrpt::math::TLine2D::getAsPose2DForcingOrigin	(	const TPoint2D &	origin,
		TPose2D &	outPose
	)		const

Definition at line 710 of file lightweight_geom_data.cpp.

References coefs, contains(), and mrpt::math::TPose2D::phi.

Referenced by mrpt::math::project2D().

getDirectorVector()

void mrpt::math::TLine2D::getDirectorVector

(

double(&)

vector[2]

)

const

Get line's director vector.

Definition at line 687 of file lightweight_geom_data.cpp.

References coefs.

Referenced by getUnitaryDirectorVector().

getNormalVector()

void mrpt::math::TLine2D::getNormalVector

(

double(&)

vector[2]

)

const

Get line's normal vector.

Definition at line 677 of file lightweight_geom_data.cpp.

References coefs.

Referenced by getUnitaryNormalVector().

getUnitaryDirectorVector()

void mrpt::math::TLine2D::getUnitaryDirectorVector ( double(&)  vector[2] )

inline

Unitarize line and then get director vector.

Definition at line 1201 of file lightweight_geom_data.h.

References getDirectorVector(), and unitarize().

getUnitaryNormalVector()

void mrpt::math::TLine2D::getUnitaryNormalVector ( double(&)  vector[2] )

inline

Get line's normal vector after unitarizing line.

Definition at line 1189 of file lightweight_geom_data.h.

References getNormalVector(), and unitarize().

signedDistance()

double mrpt::math::TLine2D::signedDistance

(

const TPoint2D &

point

)

const

Distance with sign from a given point (sign indicates side).

Definition at line 672 of file lightweight_geom_data.cpp.

References coefs, and evaluatePoint().

Referenced by mrpt::math::TSegment2D::signedDistance().

unitarize()

void mrpt::math::TLine2D::unitarize

(

)

Unitarize line's normal vector.

Definition at line 682 of file lightweight_geom_data.cpp.

References coefs.

Referenced by mrpt::math::getAngleBisector(), mrpt::math::getSegmentBisector(), getUnitaryDirectorVector(), and getUnitaryNormalVector().

Member Data Documentation

coefs

double mrpt::math::TLine2D::coefs[3]

Line coefficients, stored as an array: .

Definition at line 1161 of file lightweight_geom_data.h.

Referenced by mrpt::math::distance(), distance(), evaluatePoint(), EXPLICIT_INST_ransac_detect_3D_planes(), mrpt::math::getAngle(), mrpt::math::getAngleBisector(), getAsPose2D(), getAsPose2DForcingOrigin(), getDirectorVector(), getNormalVector(), mrpt::math::getRegressionLine(), mrpt::math::getSegmentBisector(), mrpt::math::intersect(), intersectInCommonLine(), mrpt::vision::matchFeatures(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project2D(), signedDistance(), TLine2D(), mrpt::math::TLine3D::TLine3D(), and unitarize().