Detailed Description

3D Plane, represented by its equation $Ax+By+Cz+D=0$

See also: TSegment3D,TLine3D,TPolygon3D,TPoint3D

Definition at line 893 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	getUnitaryNormalVector (double(&vec)[3])
	Unitarize, then get normal vector. More...

void	getAsPose3D (mrpt::poses::CPose3D &outPose)
	Gets a pose whose XY plane corresponds to this plane. More...

void	getAsPose3D (mrpt::poses::CPose3D &outPose) const
	Gets a pose whose XY plane corresponds to this plane. More...

void	getAsPose3DForcingOrigin (const TPoint3D &newOrigin, mrpt::poses::CPose3D &pose)
	Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. More...

void	getAsPose3DForcingOrigin (const TPoint3D &newOrigin, mrpt::poses::CPose3D &pose) const
	Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. 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...

	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...

Public Attributes
double	coefs [4]
	Plane coefficients, stored as an array: $\left[A,B,C,D\right]$ . 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 571 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::geometryEpsilon, 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 584 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::TLine3D::director, mrpt::math::geometryEpsilon, 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 594 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::TLine3D::contains(), mrpt::math::crossProduct3D(), mrpt::math::TLine3D::director, evaluatePoint(), mrpt::math::geometryEpsilon, 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 982 of file lightweight_geom_data.h.

◆ TPlane() [5/6]

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

inline

Constructor from plane coefficients.

Definition at line 986 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 995 of file lightweight_geom_data.h.

Member Function Documentation

◆ contains() [1/3]

bool mrpt::math::TPlane::contains ( const TPoint3D & point ) const

Check whether a point is contained into the plane.

Definition at line 526 of file lightweight_geom_data.cpp.

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

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

◆ contains() [2/3]

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

inline

Check whether a segment is fully contained into the plane.

Definition at line 910 of file lightweight_geom_data.h.

References mrpt::math::TSegment3D::point1, and mrpt::math::TSegment3D::point2.

◆ contains() [3/3]

bool mrpt::math::TPlane::contains ( const TLine3D & line ) const

Check whether a line is fully contained into the plane.

Definition at line 529 of file lightweight_geom_data.cpp.

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

◆ distance() [1/2]

double mrpt::math::TPlane::distance ( const TPoint3D & point ) const

Distance to 3D point.

Definition at line 533 of file lightweight_geom_data.cpp.

References coefs, and evaluatePoint().

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

◆ distance() [2/2]

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 536 of file lightweight_geom_data.cpp.

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

◆ evaluatePoint()

double mrpt::math::TPlane::evaluatePoint ( const TPoint3D & point ) const

Evaluate a point in the plane's equation.

Definition at line 523 of file lightweight_geom_data.cpp.

References coefs.

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

◆ getAsPose3D() [1/2]

void mrpt::math::TPlane::getAsPose3D ( mrpt::poses::CPose3D & outPose )

Gets a pose whose XY plane corresponds to this plane.

Definition at line 551 of file lightweight_geom_data.cpp.

References coefs, mrpt::math::generateAxisBaseFromDirectionAndAxis(), mrpt::math::geometryEpsilon, and getUnitaryNormalVector().

Referenced by mrpt::math::TPolygon3D::contains(), getAsPose3D(), intersectInCommonPlane(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

◆ getAsPose3D() [2/2]

void mrpt::math::TPlane::getAsPose3D ( mrpt::poses::CPose3D & outPose ) const

inline

Gets a pose whose XY plane corresponds to this plane.

Definition at line 947 of file lightweight_geom_data.h.

References getAsPose3D().

◆ getAsPose3DForcingOrigin() [1/2]

void mrpt::math::TPlane::getAsPose3DForcingOrigin	(	const TPoint3D &	newOrigin,
		mrpt::poses::CPose3D &	pose
	)

Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates.

Exceptions

std::logic_error if the point is not inside the plane.

Definition at line 562 of file lightweight_geom_data.cpp.

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

Referenced by mrpt::math::TPolygon3D::distance(), and getAsPose3DForcingOrigin().

◆ getAsPose3DForcingOrigin() [2/2]

void mrpt::math::TPlane::getAsPose3DForcingOrigin	(	const TPoint3D &	newOrigin,
		mrpt::poses::CPose3D &	pose
	)		const

inline

Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates.

Exceptions

std::logic_error if the point is not inside the plane.

Definition at line 960 of file lightweight_geom_data.h.

References getAsPose3DForcingOrigin().

◆ getNormalVector()

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

Get plane's normal vector.

Definition at line 540 of file lightweight_geom_data.cpp.

References coefs.

Referenced by mrpt::opengl::CPolyhedron::setNormal().

◆ getUnitaryNormalVector()

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

inline

Unitarize, then get normal vector.

Definition at line 936 of file lightweight_geom_data.h.

Referenced by getAsPose3D(), and getAsPose3DForcingOrigin().

◆ unitarize()

void mrpt::math::TPlane::unitarize ( )

Unitarize normal vector.

Definition at line 545 of file lightweight_geom_data.cpp.

References coefs.

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

Member Data Documentation

◆ coefs

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

Plane coefficients, stored as an array: $\left[A,B,C,D\right]$ .

Definition at line 898 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().

Detailed Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ TPlane() [1/6]

◆ TPlane() [2/6]

◆ TPlane() [3/6]

◆ TPlane() [4/6]

◆ TPlane() [5/6]

◆ TPlane() [6/6]

Member Function Documentation

◆ contains() [1/3]

◆ contains() [2/3]

◆ contains() [3/3]

◆ distance() [1/2]

◆ distance() [2/2]

◆ evaluatePoint()

◆ getAsPose3D() [1/2]

◆ getAsPose3D() [2/2]

◆ getAsPose3DForcingOrigin() [1/2]

◆ getAsPose3DForcingOrigin() [2/2]

◆ getNormalVector()

◆ getUnitaryNormalVector()

◆ unitarize()

Member Data Documentation

◆ coefs