Detailed Description

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

See also: TSegment3D,TLine3D,TPolygon3D,TPoint3D

Definition at line 22 of file TPlane.h.

#include <mrpt/math/TPlane.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...

TVector3D	getNormalVector () const

void	unitarize ()
	Unitarize normal vector. More...

void	getAsPose3D (mrpt::math::TPose3D &outPose) const

void	getAsPose3DForcingOrigin (const TPoint3D &center, TPose3D &pose) const

void	getUnitaryNormalVector (double(&vec)[3]) const
	Get normal vector. More...

	TPlane (const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)
	Defines a plane which contains these three points. More...

	TPlane (const TPoint3D &p1, const TVector3D &normal)
	Defines a plane given a point and a normal vector (must not be unit). More...

	TPlane (const TPoint3D &p1, const TLine3D &r2)
	Defines a plane which contains this point and this line. More...

	TPlane (const TLine3D &r1, const TLine3D &r2)
	Defines a plane which contains the two lines. More...

	TPlane ()=default
	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...

Public Attributes
std::array< double, 4 >	coefs {{.0, .0, .0, .0}}
	Plane coefficients, stored as an array: $\left[A,B,C,D\right]$ . More...

Constructor & Destructor Documentation

◆ TPlane() [1/7]

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

Defines a plane which contains these three points.

Exceptions

std::logic_error if the points are linearly dependants.

Definition at line 987 of file TPoseOrPoint.cpp.

References coefs, mrpt::math::getEpsilon(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ TPlane() [2/7]

mrpt::math::TPlane::TPlane	(	const TPoint3D &	p1,
		const TVector3D &	normal
	)

Defines a plane given a point and a normal vector (must not be unit).

Exceptions

std::logic_error if the normal vector is null

Definition at line 1016 of file TPoseOrPoint.cpp.

References ASSERT_ABOVE_, coefs, mrpt::math::getEpsilon(), mrpt::math::TPoint3D::norm(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ TPlane() [3/7]

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

Defines a plane which contains this point and this line.

Exceptions

std::logic_error if the point is inside the line.

Definition at line 1003 of file TPoseOrPoint.cpp.

References coefs, mrpt::math::TLine3D::director, mrpt::math::getEpsilon(), mrpt::math::TLine3D::pBase, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ TPlane() [4/7]

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

Defines a plane which contains the two lines.

Exceptions

std::logic_error if the lines do not cross.

Definition at line 1028 of file TPoseOrPoint.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_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ TPlane() [5/7]

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

default

Fast default constructor.

Initializes to garbage.

◆ TPlane() [6/7]

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

inline

Constructor from plane coefficients.

Definition at line 84 of file TPlane.h.

◆ TPlane() [7/7]

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

inline

Constructor from an array of coefficients.

Definition at line 90 of file TPlane.h.

References coefs.

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 914 of file TPoseOrPoint.cpp.

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

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

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◆ 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 36 of file TPlane.h.

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

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◆ 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 918 of file TPoseOrPoint.cpp.

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

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◆ distance() [1/2]

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

Distance to 3D point.

Definition at line 924 of file TPoseOrPoint.cpp.

References coefs, and evaluatePoint().

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

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◆ 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 928 of file TPoseOrPoint.cpp.

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

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◆ evaluatePoint()

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

Evaluate a point in the plane's equation.

Definition at line 910 of file TPoseOrPoint.cpp.

References coefs.

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

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◆ getAsPose3D()

void mrpt::math::TPlane::getAsPose3D ( mrpt::math::TPose3D & outPose ) const

Definition at line 961 of file TPoseOrPoint.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().

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◆ getAsPose3DForcingOrigin()

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

Definition at line 975 of file TPoseOrPoint.cpp.

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

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

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◆ getNormalVector() [1/2]

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

Get plane's normal vector.

Definition at line 935 of file TPoseOrPoint.cpp.

References coefs.

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

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◆ getNormalVector() [2/2]

TVector3D mrpt::math::TPlane::getNormalVector ( ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 939 of file TPoseOrPoint.cpp.

References coefs.

◆ getUnitaryNormalVector()

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

Get normal vector.

Definition at line 946 of file TPoseOrPoint.cpp.

References ASSERT_ABOVE_, coefs, and mrpt::math::getEpsilon().

Referenced by getAsPose3D(), and getAsPose3DForcingOrigin().

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◆ unitarize()

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

Unitarize normal vector.

Definition at line 954 of file TPoseOrPoint.cpp.

References coefs.

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

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Member Data Documentation

◆ coefs

std::array<double, 4> mrpt::math::TPlane::coefs {{.0, .0, .0, .0}}

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

Definition at line 26 of file TPlane.h.

Referenced by mrpt::opengl::CPolyhedron::augment(), createPlaneFromPoseAndAxis(), mrpt::math::createPlaneFromPoseAndNormal(), distance(), mrpt::math::distance(), evaluatePoint(), mrpt::math::getAngle(), getAsPose3D(), mrpt::opengl::CPolyhedron::getDual(), getNormalVector(), mrpt::math::getRegressionPlane(), mrpt::math::getSegmentBisector(), getUnitaryNormalVector(), 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() [1/7]

◆ TPlane() [2/7]

◆ TPlane() [3/7]

◆ TPlane() [4/7]

◆ TPlane() [5/7]

◆ TPlane() [6/7]

◆ TPlane() [7/7]

Member Function Documentation

◆ contains() [1/3]

◆ contains() [2/3]

◆ contains() [3/3]

◆ distance() [1/2]

◆ distance() [2/2]

◆ evaluatePoint()

◆ getAsPose3D()

◆ getAsPose3DForcingOrigin()

◆ getNormalVector() [1/2]

◆ getNormalVector() [2/2]

◆ getUnitaryNormalVector()

◆ unitarize()

Member Data Documentation

◆ coefs