mrpt::math::TLine3D Struct Reference

Detailed Description

3D line, represented by a base point and a director vector.

See also

TLine2D,TSegment3D,TPlane,TPolygon3D,TPoint3D

Definition at line 19 of file TLine3D.h.

#include <mrpt/math/TLine3D.h>

Public Member Functions
bool	contains (const TPoint3D &point) const
	Check whether a point is inside the line. More...
double	distance (const TPoint3D &point) const
	Distance between the line and a point. More...
void	unitarize ()
	Unitarize director vector. More...
void	getDirectorVector (double(&vector)[3]) const
	Get director vector. More...
TVector3D	getDirectorVector () const
	Get director vector. More...
void	getUnitaryDirectorVector (double(&vector)[3])
	Unitarize and then get director vector. More...
void	generate2DObject (TLine2D &l) const
	Project into 2D space, discarding the Z coordinate. More...
	TLine3D (const TPoint3D &p1, const TPoint3D &p2)
	Constructor from two points, through which the line will pass. More...
	TLine3D (const TSegment3D &s)
	Constructor from 3D segment. More...
	TLine3D ()=default
	Fast default constructor. More...
	TLine3D (const TLine2D &l)
	Constructor from 2D object. More...

Public Attributes
TPoint3D	pBase
	Base point. More...
std::array< double, 3 >	director {{.0, .0, .0}}
	Director vector. More...

Constructor & Destructor Documentation

TLine3D() [1/4]

TLine3D::TLine3D	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)

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

Exceptions

std::logic_error

if both points are the same.

Definition at line 61 of file TLine3D.cpp.

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

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TLine3D() [2/4]

TLine3D::TLine3D ( const TSegment3D &  s )

explicit

Constructor from 3D segment.

Definition at line 70 of file TLine3D.cpp.

References director, pBase, mrpt::math::TSegment3D::point1, mrpt::math::TSegment3D::point2, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

TLine3D() [3/4]

mrpt::math::TLine3D::TLine3D ( )

default

Fast default constructor.

Initializes to garbage.

TLine3D() [4/4]

TLine3D::TLine3D ( const TLine2D &  l )

explicit

Constructor from 2D object.

Zeroes the z.

Definition at line 77 of file TLine3D.cpp.

References mrpt::math::TLine2D::coefs, director, mrpt::math::getEpsilon(), pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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Member Function Documentation

contains()

bool TLine3D::contains

(

const TPoint3D &

point

)

const

Check whether a point is inside the line.

Definition at line 25 of file TLine3D.cpp.

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

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

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distance()

double TLine3D::distance

(

const TPoint3D &

point

)

const

Distance between the line and a point.

Definition at line 40 of file TLine3D.cpp.

References director, pBase, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::math::TSegment3D::distance(), and mrpt::math::distance().

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generate2DObject()

void TLine3D::generate2DObject

(

TLine2D &

l

)

const

Project into 2D space, discarding the Z coordinate.

Exceptions

std::logic_error

if the line's director vector is orthogonal to the XY plane.

Definition at line 23 of file TLine3D.cpp.

Referenced by intersect().

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getDirectorVector() [1/2]

void mrpt::math::TLine3D::getDirectorVector ( double(&)  vector[3] ) const

inline

Get director vector.

Definition at line 37 of file TLine3D.h.

References director.

getDirectorVector() [2/2]

TVector3D mrpt::math::TLine3D::getDirectorVector ( ) const

inline

Get director vector.

Definition at line 42 of file TLine3D.h.

References director.

Referenced by getUnitaryDirectorVector().

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getUnitaryDirectorVector()

void mrpt::math::TLine3D::getUnitaryDirectorVector ( double(&)  vector[3] )

inline

Unitarize and then get director vector.

Definition at line 51 of file TLine3D.h.

References getDirectorVector(), and unitarize().

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unitarize()

void TLine3D::unitarize

(

)

Unitarize director vector.

Definition at line 56 of file TLine3D.cpp.

References director.

Referenced by getUnitaryDirectorVector(), mrpt::math::intersect(), mrpt::math::project3D(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), mrpt::opengl::CEllipsoid2D::traceRay(), and mrpt::math::traceRay().

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Member Data Documentation

director

std::array<double, 3> mrpt::math::TLine3D::director {{.0, .0, .0}}

Director vector.

Definition at line 25 of file TLine3D.h.

Referenced by contains(), createFromPoseAndAxis(), mrpt::math::createFromPoseAndVector(), distance(), mrpt::math::distance(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::math::getAngle(), getDirectorVector(), mrpt::math::getRegressionLine(), mrpt::math::intersect(), intersect(), intersectInCommonLine(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project3D(), mrpt::math::TLine2D::TLine2D(), TLine3D(), mrpt::math::TPlane::TPlane(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), mrpt::opengl::CEllipsoid2D::traceRay(), and unitarize().

pBase

TPoint3D mrpt::math::TLine3D::pBase

Base point.

Definition at line 23 of file TLine3D.h.

Referenced by contains(), mrpt::math::TPlane::contains(), createFromPoseAndAxis(), mrpt::math::createFromPoseAndVector(), distance(), mrpt::math::TPlane::distance(), mrpt::math::distance(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::math::getRegressionLine(), mrpt::math::intersect(), intersect(), mrpt::math::operator<<(), mrpt::math::operator>>(), mrpt::math::project3D(), mrpt::math::TLine2D::TLine2D(), TLine3D(), mrpt::math::TPlane::TPlane(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid3D::traceRay(), and mrpt::opengl::CEllipsoid2D::traceRay().