mrpt::math::TPlane Struct Reference

Detailed Description

3D Plane, represented by its equation

See also

TSegment3D,TLine3D,TPolygon3D,TPoint3D

Definition at line 1309 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.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...
void	getNormalVector (double(&vec)[3]) const
	Get plane's normal vector. More...
void	unitarize ()
	Unitarize normal vector. More...
void	getAsPose3D (mrpt::math::TPose3D &outPose)
void	getUnitaryNormalVector (double(&vec)[3])
	Unitarize, then get normal vector. More...
	TPlane (const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)
	Gets a plane which contains these three points. More...
	TPlane (const TPoint3D &p1, const TLine3D &r2)
	Gets a plane which contains this point and this line. More...
	TPlane (const TLine3D &r1, const TLine3D &r2)
	Gets a plane which contains the two lines. More...
	TPlane ()
	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...
void	getAsPose3DForcingOrigin (const TPoint3D &newOrigin, TPose3D &pose)

Public Attributes
double	coefs [4]
	Plane coefficients, stored as an array: . More...

Constructor & Destructor Documentation

TPlane() [1/6]

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

Gets a plane which contains these three points.

Exceptions

std::logic_error

if the points are linearly dependants.

Definition at line 880 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::getEpsilon(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

TPlane() [2/6]

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

Gets a plane which contains this point and this line.

Exceptions

std::logic_error

if the point is inside the line.

Definition at line 896 of file lightweight_geom_data.cpp.

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

TPlane() [3/6]

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

Gets a plane which contains the two lines.

Exceptions

std::logic_error

if the lines do not cross.

Definition at line 909 of file lightweight_geom_data.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::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

TPlane() [4/6]

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

inline

Fast default constructor.

Initializes to garbage.

Definition at line 1379 of file lightweight_geom_data.h.

TPlane() [5/6]

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

inlineconstexpr

Constructor from plane coefficients.

Definition at line 1383 of file lightweight_geom_data.h.

TPlane() [6/6]

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

inline

Constructor from an array of coefficients.

Definition at line 1390 of file lightweight_geom_data.h.

References coefs.

Member Function Documentation

contains() [1/3]

bool mrpt::math::TPlane::contains

(

const TLine3D &

line

)

const

Check whether a line is fully contained into the plane.

Definition at line 825 of file lightweight_geom_data.cpp.

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

contains() [2/3]

bool mrpt::math::TPlane::contains

(

const TPoint3D &

point

)

const

Check whether a point is contained into the plane.

Definition at line 821 of file lightweight_geom_data.cpp.

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

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

contains() [3/3]

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

inline

Check whether a segment is fully contained into the plane.

Definition at line 1327 of file lightweight_geom_data.h.

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

distance() [1/2]

double mrpt::math::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 835 of file lightweight_geom_data.cpp.

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

distance() [2/2]

double mrpt::math::TPlane::distance

(

const TPoint3D &

point

)

const

Distance to 3D point.

Definition at line 831 of file lightweight_geom_data.cpp.

References coefs, and evaluatePoint().

Referenced by contains(), mrpt::math::distance(), distance(), and mrpt::math::ransac3Dplane_distance().

evaluatePoint()

double mrpt::math::TPlane::evaluatePoint

(

const TPoint3D &

point

)

const

Evaluate a point in the plane's equation.

Definition at line 817 of file lightweight_geom_data.cpp.

References coefs.

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

getAsPose3D()

void mrpt::math::TPlane::getAsPose3D

(

mrpt::math::TPose3D &

outPose

)

Definition at line 855 of file lightweight_geom_data.cpp.

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

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

getAsPose3DForcingOrigin()

void mrpt::math::TPlane::getAsPose3DForcingOrigin	(	const TPoint3D &	newOrigin,
		TPose3D &	pose
	)

Definition at line 869 of file lightweight_geom_data.cpp.

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

Referenced by mrpt::math::TPolygon3D::distance().

getNormalVector()

void mrpt::math::TPlane::getNormalVector

(

double(&)

vec[3]

)

const

Get plane's normal vector.

Definition at line 842 of file lightweight_geom_data.cpp.

References coefs.

Referenced by getUnitaryNormalVector(), and mrpt::opengl::CPolyhedron::setNormal().

getUnitaryNormalVector()

void mrpt::math::TPlane::getUnitaryNormalVector ( double(&)  vec[3] )

inline

Unitarize, then get normal vector.

Definition at line 1356 of file lightweight_geom_data.h.

References getNormalVector(), and unitarize().

Referenced by getAsPose3D(), and getAsPose3DForcingOrigin().

unitarize()

void mrpt::math::TPlane::unitarize

(

)

Unitarize normal vector.

Definition at line 848 of file lightweight_geom_data.cpp.

References coefs.

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

Member Data Documentation

coefs

double mrpt::math::TPlane::coefs[4]

Plane coefficients, stored as an array: .

Definition at line 1315 of file lightweight_geom_data.h.

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