Detailed Description

2D line without bounds, represented by its equation $Ax+By+C=0$ .

See also: TLine3D,TSegment2D,TPolygon2D,TPoint2D

Definition at line 19 of file TLine2D.h.

#include <mrpt/math/TLine2D.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 ()=default
	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
std::array< double, 3 >	coefs {{0, 0, 0}}
	Line coefficients, stored as an array: $\left[A,B,C\right]$ . More...

Constructor & Destructor Documentation

◆ TLine2D() [1/5]

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 85 of file TLine2D.cpp.

References coefs, mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

◆ TLine2D() [2/5]

TLine2D::TLine2D ( const TSegment2D & s )

explicit

Constructor from a segment.

Definition at line 92 of file TLine2D.cpp.

References coefs, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

◆ TLine2D() [3/5]

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

default

Fast default constructor.

Initializes to garbage.

◆ TLine2D() [4/5]

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

inline

Constructor from line's coefficients.

Definition at line 88 of file TLine2D.h.

◆ TLine2D() [5/5]

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 99 of file TLine2D.cpp.

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

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Member Function Documentation

◆ contains()

bool TLine2D::contains ( const TPoint2D & point ) const

Check whether a point is inside the line.

Definition at line 29 of file TLine2D.cpp.

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

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

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◆ distance()

double TLine2D::distance ( const TPoint2D & point ) const

Distance from a given point.

Definition at line 33 of file TLine2D.cpp.

References coefs, and evaluatePoint().

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

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◆ evaluatePoint()

double TLine2D::evaluatePoint ( const TPoint2D & point ) const

Evaluate point in the line's equation.

Definition at line 25 of file TLine2D.cpp.

References coefs, mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

Referenced by distance(), and signedDistance().

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◆ generate3DObject()

void TLine2D::generate3DObject ( TLine3D & l ) const

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

Definition at line 58 of file TLine2D.cpp.

◆ getAsPose2D()

void TLine2D::getAsPose2D ( TPose2D & outPose ) const

Definition at line 59 of file TLine2D.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().

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◆ getAsPose2DForcingOrigin()

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

Definition at line 76 of file TLine2D.cpp.

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

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

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◆ getDirectorVector()

void TLine2D::getDirectorVector ( double(&) vector[2] ) const

Get line's director vector.

Definition at line 53 of file TLine2D.cpp.

References coefs.

Referenced by getUnitaryDirectorVector().

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◆ getNormalVector()

void TLine2D::getNormalVector ( double(&) vector[2] ) const

Get line's normal vector.

Definition at line 43 of file TLine2D.cpp.

References coefs.

Referenced by getUnitaryNormalVector().

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◆ getUnitaryDirectorVector()

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

inline

Unitarize line and then get director vector.

Definition at line 63 of file TLine2D.h.

References getDirectorVector(), and unitarize().

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◆ getUnitaryNormalVector()

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

inline

Get line's normal vector after unitarizing line.

Definition at line 51 of file TLine2D.h.

References getNormalVector(), and unitarize().

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◆ signedDistance()

double TLine2D::signedDistance ( const TPoint2D & point ) const

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

Definition at line 38 of file TLine2D.cpp.

References coefs, and evaluatePoint().

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

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◆ unitarize()

void TLine2D::unitarize ( )

Unitarize line's normal vector.

Definition at line 48 of file TLine2D.cpp.

References coefs.

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

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Member Data Documentation

◆ coefs

std::array<double, 3> mrpt::math::TLine2D::coefs {{0, 0, 0}}

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

Definition at line 23 of file TLine2D.h.

Referenced by mrpt::math::createFromPoseAndVector(), mrpt::math::createFromPoseX(), mrpt::math::createFromPoseY(), distance(), mrpt::math::distance(), evaluatePoint(), 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(), mrpt::math::ransac2Dline_distance(), mrpt::math::ransac2Dline_fit(), signedDistance(), TLine2D(), mrpt::math::TLine3D::TLine3D(), and unitarize().

Detailed Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ TLine2D() [1/5]

◆ TLine2D() [2/5]

◆ TLine2D() [3/5]

◆ TLine2D() [4/5]

◆ TLine2D() [5/5]

Member Function Documentation

◆ contains()

◆ distance()

◆ evaluatePoint()

◆ generate3DObject()

◆ getAsPose2D()

◆ getAsPose2DForcingOrigin()

◆ getDirectorVector()

◆ getNormalVector()

◆ getUnitaryDirectorVector()

◆ getUnitaryNormalVector()

◆ signedDistance()

◆ unitarize()

Member Data Documentation

◆ coefs