mrpt::math::TLine2D Struct Reference

Detailed Description

2D line without bounds, represented by its equation .

See also

TLine3D,TSegment2D,TPolygon2D,TPoint2D

Definition at line 708 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...
void	getAsPose2D (mrpt::poses::CPose2D &outPose) const
	Get a pose2D whose X axis corresponds to the line. More...
void	getAsPose2DForcingOrigin (const TPoint2D &origin, mrpt::poses::CPose2D &outPose) const
	Get a pose2D whose X axis corresponds to the line, forcing the base point to one given. More...
	TLine2D (const TPoint2D &p1, const TPoint2D &p2) throw (std::logic_error)
	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...
	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...

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
	)
throw	(	std::logic_error
	)

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

Exceptions

logic_error

if both points are the same

TLine2D() [2/5]

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

explicit

Constructor from a segment.

TLine2D() [3/5]

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

inline

Fast default constructor.

Initializes to garbage.

Definition at line 783 of file lightweight_geom_data.h.

TLine2D() [4/5]

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

inline

Constructor from line's coefficients.

Definition at line 787 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.

Member Function Documentation

contains()

bool mrpt::math::TLine2D::contains

(

const TPoint2D &

point

)

const

Check whether a point is inside the line.

distance()

double mrpt::math::TLine2D::distance

(

const TPoint2D &

point

)

const

Distance from a given point.

evaluatePoint()

double mrpt::math::TLine2D::evaluatePoint

(

const TPoint2D &

point

)

const

Evaluate point in the line's equation.

generate3DObject()

void mrpt::math::TLine2D::generate3DObject

(

TLine3D &

l

)

const

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

getAsPose2D()

void mrpt::math::TLine2D::getAsPose2D

(

mrpt::poses::CPose2D &

outPose

)

const

Get a pose2D whose X axis corresponds to the line.

See also

mrpt::poses::CPose2D.

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

getAsPose2DForcingOrigin()

void mrpt::math::TLine2D::getAsPose2DForcingOrigin	(	const TPoint2D &	origin,
		mrpt::poses::CPose2D &	outPose
	)		const

Get a pose2D whose X axis corresponds to the line, forcing the base point to one given.

Exceptions

logic_error

if the point is not inside the line.

See also

mrpt::poses::CPose2D.

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

getDirectorVector()

void mrpt::math::TLine2D::getDirectorVector

(

double(&)

vector[2]

)

const

Get line's director vector.

getNormalVector()

void mrpt::math::TLine2D::getNormalVector

(

double(&)

vector[2]

)

const

Get line's normal vector.

getUnitaryDirectorVector()

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

inline

Unitarize line and then get director vector.

Definition at line 752 of file lightweight_geom_data.h.

getUnitaryNormalVector()

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

inline

Get line's normal vector after unitarizing line.

Definition at line 741 of file lightweight_geom_data.h.

signedDistance()

double mrpt::math::TLine2D::signedDistance

(

const TPoint2D &

point

)

const

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

unitarize()

void mrpt::math::TLine2D::unitarize

(

)

Unitarize line's normal vector.

Member Data Documentation

coefs

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

Line coefficients, stored as an array: .

Definition at line 713 of file lightweight_geom_data.h.