Detailed Description

Collaboration diagram for Geometry: lines, planes, intersections, SLERP, "lightweight" point & pose classes:

Classes
class	mrpt::math::CPolygon
	A wrapper of a TPolygon2D class, implementing CSerializable. More...

class	mrpt::math::TPolygonWithPlane
	Slightly heavyweight type to speed-up calculations with polygons in 3D. More...

struct	mrpt::math::TPoint2D
	Lightweight 2D point. More...

struct	mrpt::math::TPose2D
	Lightweight 2D pose. More...

struct	mrpt::math::TPoint3Df
	Lightweight 3D point (float version). More...

struct	mrpt::math::TPoint3D
	Lightweight 3D point. More...

struct	mrpt::math::TPointXYZIu8
	XYZ point (double) + Intensity(u8) More...

struct	mrpt::math::TPointXYZRGBu8
	XYZ point (double) + RGB(u8) More...

struct	mrpt::math::TPointXYZfIu8
	XYZ point (float) + Intensity(u8) More...

struct	mrpt::math::TPointXYZfRGBu8
	XYZ point (float) + RGB(u8) More...

struct	mrpt::math::TPose3D
	Lightweight 3D pose (three spatial coordinates, plus three angular coordinates). More...

struct	mrpt::math::TPose3DQuat
	Lightweight 3D pose (three spatial coordinates, plus a quaternion ). More...

struct	mrpt::math::TSegment2D
	2D segment, consisting of two points. More...

struct	mrpt::math::TSegment3D
	3D segment, consisting of two points. More...

struct	mrpt::math::TLine2D
	2D line without bounds, represented by its equation . More...

struct	mrpt::math::TLine3D
	3D line, represented by a base point and a director vector. More...

struct	mrpt::math::TPlane
	3D Plane, represented by its equation More...

class	mrpt::math::TPolygon2D
	2D polygon, inheriting from std::vector<TPoint2D>. More...

class	mrpt::math::TPolygon3D
	3D polygon, inheriting from std::vector<TPoint3D> More...

struct	mrpt::math::TObject2D
	Standard type for storing any lightweight 2D type. More...

struct	mrpt::math::TObject3D
	Standard object for storing any 3D lightweight object. More...

struct	mrpt::math::TTwist2D
	2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega) More...

struct	mrpt::math::TTwist3D
	3D twist: 3D velocity vector (vx,vy,vz) + angular velocity (wx,wy,wz) More...

Typedefs
typedef TPlane	mrpt::math::TPlane3D

Functions
std::ostream BASE_IMPEXP &	mrpt::math::operator<< (std::ostream &o, const TPoint2D &p)

std::ostream BASE_IMPEXP &	mrpt::math::operator<< (std::ostream &o, const TPoint3D &p)

std::ostream BASE_IMPEXP &	mrpt::math::operator<< (std::ostream &o, const TPose2D &p)

std::ostream BASE_IMPEXP &	mrpt::math::operator<< (std::ostream &o, const TPose3D &p)

std::ostream BASE_IMPEXP &	mrpt::math::operator<< (std::ostream &o, const TPose3DQuat &p)

TPoint3D	mrpt::math::operator- (const TPoint3D &p1)
	Unary minus operator for 3D points. More...

bool	mrpt::math::operator== (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...

bool	mrpt::math::operator!= (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...

bool	mrpt::math::operator== (const TPoint3D &p1, const TPoint3D &p2)
	Exact comparison between 3D points. More...

bool	mrpt::math::operator!= (const TPoint3D &p1, const TPoint3D &p2)
	Exact comparison between 3D points. More...

bool	mrpt::math::operator== (const TPose2D &p1, const TPose2D &p2)
	Exact comparison between 2D poses, taking possible cycles into account. More...

bool	mrpt::math::operator!= (const TPose2D &p1, const TPose2D &p2)
	Exact comparison between 2D poses, taking possible cycles into account. More...

bool	mrpt::math::operator== (const TPose3D &p1, const TPose3D &p2)
	Exact comparison between 3D poses, taking possible cycles into account. More...

bool	mrpt::math::operator!= (const TPose3D &p1, const TPose3D &p2)
	Exact comparison between 3D poses, taking possible cycles into account. More...

bool	mrpt::math::operator== (const TSegment2D &s1, const TSegment2D &s2)

bool	mrpt::math::operator!= (const TSegment2D &s1, const TSegment2D &s2)

bool	mrpt::math::operator== (const TSegment3D &s1, const TSegment3D &s2)

bool	mrpt::math::operator!= (const TSegment3D &s1, const TSegment3D &s2)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TPose2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TPose3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment2D &s)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment2D &s)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TLine2D &l)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine2D &l)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TObject2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment3D &s)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment3D &s)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TLine3D &l)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine3D &l)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TPlane &p)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TPlane &p)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TObject3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TTwist2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TTwist2D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, mrpt::math::TTwist3D &o)

BASE_IMPEXP mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const mrpt::math::TTwist3D &o)

Variables
double BASE_IMPEXP	mrpt::math::geometryEpsilon =1e-5
	Global epsilon to overcome small precision errors (Default=1e-5) More...

struct BASE_IMPEXP	mrpt::math::TSegment3D

struct BASE_IMPEXP	mrpt::math::TLine3D

class BASE_IMPEXP	mrpt::math::TPolygon3D

struct BASE_IMPEXP	mrpt::math::TObject3D

const unsigned char	mrpt::math::GEOMETRIC_TYPE_POINT =0
	Object type identifier for TPoint2D or TPoint3D. More...

const unsigned char	mrpt::math::GEOMETRIC_TYPE_SEGMENT =1
	Object type identifier for TSegment2D or TSegment3D. More...

const unsigned char	mrpt::math::GEOMETRIC_TYPE_LINE =2
	Object type identifier for TLine2D or TLine3D. More...

const unsigned char	mrpt::math::GEOMETRIC_TYPE_POLYGON =3
	Object type identifier for TPolygon2D or TPolygon3D. More...

const unsigned char	mrpt::math::GEOMETRIC_TYPE_PLANE =4
	Object type identifier for TPlane. More...

const unsigned char	mrpt::math::GEOMETRIC_TYPE_UNDEFINED =255
	Object type identifier for empty TObject2D or TObject3D. More...

Simple intersection operations, relying basically on geometrical operations.
bool BASE_IMPEXP	mrpt::math::intersect (const TSegment3D &s1, const TSegment3D &s2, TObject3D &obj)
	Gets the intersection between two 3D segments. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TSegment3D &s1, const TPlane &p2, TObject3D &obj)
	Gets the intersection between a 3D segment and a plane. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TSegment3D &s1, const TLine3D &r2, TObject3D &obj)
	Gets the intersection between a 3D segment and a 3D line. More...

bool	mrpt::math::intersect (const TPlane &p1, const TSegment3D &s2, TObject3D &obj)
	Gets the intersection between a plane and a 3D segment. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPlane &p1, const TPlane &p2, TObject3D &obj)
	Gets the intersection between two planes. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPlane &p1, const TLine3D &p2, TObject3D &obj)
	Gets the intersection between a plane and a 3D line. More...

bool	mrpt::math::intersect (const TLine3D &r1, const TSegment3D &s2, TObject3D &obj)
	Gets the intersection between a 3D line and a 3D segment. More...

bool	mrpt::math::intersect (const TLine3D &r1, const TPlane &p2, TObject3D &obj)
	Gets the intersection between a 3D line and a plane. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TLine3D &r1, const TLine3D &r2, TObject3D &obj)
	Gets the intersection between two 3D lines. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TLine2D &r1, const TLine2D &r2, TObject2D &obj)
	Gets the intersection between two 2D lines. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TLine2D &r1, const TSegment2D &s2, TObject2D &obj)
	Gets the intersection between a 2D line and a 2D segment. More...

bool	mrpt::math::intersect (const TSegment2D &s1, const TLine2D &r2, TObject2D &obj)
	Gets the intersection between a 2D line and a 2D segment. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TSegment2D &s1, const TSegment2D &s2, TObject2D &obj)
	Gets the intersection between two 2D segments. More...

Angle retrieval methods. Methods which use TSegments will automatically use TLines' implicit constructors.
double BASE_IMPEXP	mrpt::math::getAngle (const TPlane &p1, const TPlane &p2)
	Computes the angle between two planes. More...

double BASE_IMPEXP	mrpt::math::getAngle (const TPlane &p1, const TLine3D &r2)
	Computes the angle between a plane and a 3D line or segment (implicit constructor will be used if passing a segment instead of a line). More...

double	mrpt::math::getAngle (const TLine3D &r1, const TPlane &p2)
	Computes the angle between a 3D line or segment and a plane (implicit constructor will be used if passing a segment instead of a line). More...

double BASE_IMPEXP	mrpt::math::getAngle (const TLine3D &r1, const TLine3D &r2)
	Computes the accute relative angle (range: [-PI/2,PI/2]) between two lines. More...

double BASE_IMPEXP	mrpt::math::getAngle (const TLine2D &r1, const TLine2D &r2)
	Computes the relative angle (range: [-PI,PI]) of line 2 wrt line 1. More...

Creation of lines from poses.
void BASE_IMPEXP	mrpt::math::createFromPoseX (const mrpt::poses::CPose3D &p, TLine3D &r)
	Gets a 3D line corresponding to the X axis in a given pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseY (const mrpt::poses::CPose3D &p, TLine3D &r)
	Gets a 3D line corresponding to the Y axis in a given pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseZ (const mrpt::poses::CPose3D &p, TLine3D &r)
	Gets a 3D line corresponding to the Z axis in a given pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseAndVector (const mrpt::poses::CPose3D &p, const double(&vector)[3], TLine3D &r)
	Gets a 3D line corresponding to any arbitrary vector, in the base given by the pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseX (const TPose2D &p, TLine2D &r)
	Gets a 2D line corresponding to the X axis in a given pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseY (const TPose2D &p, TLine2D &r)
	Gets a 2D line corresponding to the Y axis in a given pose. More...

void BASE_IMPEXP	mrpt::math::createFromPoseAndVector (const TPose2D &p, const double(&vector)[2], TLine2D &r)
	Gets a 2D line corresponding to any arbitrary vector, in the base given the given pose. More...

Other line or plane related methods.
bool BASE_IMPEXP	mrpt::math::conformAPlane (const std::vector< TPoint3D > &points)
	Checks whether this polygon or set of points acceptably fits a plane. More...

bool BASE_IMPEXP	mrpt::math::conformAPlane (const std::vector< TPoint3D > &points, TPlane &p)
	Checks whether this polygon or set of points acceptably fits a plane, and if it's the case returns it in the second argument. More...

bool BASE_IMPEXP	mrpt::math::areAligned (const std::vector< TPoint2D > &points)
	Checks whether this set of points acceptably fits a 2D line. More...

bool BASE_IMPEXP	mrpt::math::areAligned (const std::vector< TPoint2D > &points, TLine2D &r)
	Checks whether this set of points acceptably fits a 2D line, and if it's the case returns it in the second argument. More...

bool BASE_IMPEXP	mrpt::math::areAligned (const std::vector< TPoint3D > &points)
	Checks whether this set of points acceptably fits a 3D line. More...

bool BASE_IMPEXP	mrpt::math::areAligned (const std::vector< TPoint3D > &points, TLine3D &r)
	Checks whether this set of points acceptably fits a 3D line, and if it's the case returns it in the second argument. More...

Projections
void	mrpt::math::project3D (const TPoint3D &point, const mrpt::poses::CPose3D &newXYpose, TPoint3D &newPoint)
	Uses the given pose 3D to project a point into a new base. More...

void	mrpt::math::project3D (const TSegment3D &segment, const mrpt::poses::CPose3D &newXYpose, TSegment3D &newSegment)
	Uses the given pose 3D to project a segment into a new base. More...

void BASE_IMPEXP	mrpt::math::project3D (const TLine3D &line, const mrpt::poses::CPose3D &newXYpose, TLine3D &newLine)
	Uses the given pose 3D to project a line into a new base. More...

void BASE_IMPEXP	mrpt::math::project3D (const TPlane &plane, const mrpt::poses::CPose3D &newXYpose, TPlane &newPlane)
	Uses the given pose 3D to project a plane into a new base. More...

void BASE_IMPEXP	mrpt::math::project3D (const TPolygon3D &polygon, const mrpt::poses::CPose3D &newXYpose, TPolygon3D &newPolygon)
	Uses the given pose 3D to project a polygon into a new base. More...

void BASE_IMPEXP	mrpt::math::project3D (const TObject3D &object, const mrpt::poses::CPose3D &newXYPose, TObject3D &newObject)
	Uses the given pose 3D to project any 3D object into a new base. More...

template<class T >
void	mrpt::math::project3D (const T &obj, const TPlane &newXYPlane, T &newObj)
	Projects any 3D object into the plane's base, using its inverse pose. More...

template<class T >
void	mrpt::math::project3D (const T &obj, const TPlane &newXYPlane, const TPoint3D &newOrigin, T &newObj)
	Projects any 3D object into the plane's base, using its inverse pose and forcing the position of the new coordinates origin. More...

template<class T >
void	mrpt::math::project3D (const std::vector< T > &objs, const mrpt::poses::CPose3D &newXYpose, std::vector< T > &newObjs)
	Projects a set of 3D objects into the plane's base. More...

void BASE_IMPEXP	mrpt::math::project2D (const TPoint2D &point, const mrpt::poses::CPose2D &newXpose, TPoint2D &newPoint)
	Uses the given pose 2D to project a point into a new base. More...

void	mrpt::math::project2D (const TSegment2D &segment, const mrpt::poses::CPose2D &newXpose, TSegment2D &newSegment)
	Uses the given pose 2D to project a segment into a new base. More...

void BASE_IMPEXP	mrpt::math::project2D (const TLine2D &line, const mrpt::poses::CPose2D &newXpose, TLine2D &newLine)
	Uses the given pose 2D to project a line into a new base. More...

void BASE_IMPEXP	mrpt::math::project2D (const TPolygon2D &polygon, const mrpt::poses::CPose2D &newXpose, TPolygon2D &newPolygon)
	Uses the given pose 2D to project a polygon into a new base. More...

void BASE_IMPEXP	mrpt::math::project2D (const TObject2D &object, const mrpt::poses::CPose2D &newXpose, TObject2D &newObject)
	Uses the given pose 2D to project any 2D object into a new base. More...

template<class T , class CPOSE2D >
void	mrpt::math::project2D (const T &obj, const TLine2D &newXLine, T &newObj)
	Projects any 2D object into the line's base, using its inverse pose. More...

template<class T , class CPOSE2D >
void	mrpt::math::project2D (const T &obj, const TLine2D &newXLine, const TPoint2D &newOrigin, T &newObj)
	Projects any 2D object into the line's base, using its inverse pose and forcing the position of the new coordinate origin. More...

template<class T >
void	mrpt::math::project2D (const std::vector< T > &objs, const mrpt::poses::CPose2D &newXpose, std::vector< T > &newObjs)
	Projects a set of 2D objects into the line's base. More...

Polygon intersections. These operations rely more on spatial reasoning than in raw numerical operations.
bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon2D &p1, const TSegment2D &s2, TObject2D &obj)
	Gets the intersection between a 2D polygon and a 2D segment. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon2D &p1, const TLine2D &r2, TObject2D &obj)
	Gets the intersection between a 2D polygon and a 2D line. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon2D &p1, const TPolygon2D &p2, TObject2D &obj)
	Gets the intersection between two 2D polygons. More...

bool	mrpt::math::intersect (const TSegment2D &s1, const TPolygon2D &p2, TObject2D &obj)
	Gets the intersection between a 2D segment and a 2D polygon. More...

bool	mrpt::math::intersect (const TLine2D &r1, const TPolygon2D &p2, TObject2D &obj)
	Gets the intersection between a 2D line and a 2D polygon. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon3D &p1, const TSegment3D &s2, TObject3D &obj)
	Gets the intersection between a 3D polygon and a 3D segment. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon3D &p1, const TLine3D &r2, TObject3D &obj)
	Gets the intersection between a 3D polygon and a 3D line. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon3D &p1, const TPlane &p2, TObject3D &obj)
	Gets the intersection between a 3D polygon and a plane. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TPolygon3D &p1, const TPolygon3D &p2, TObject3D &obj)
	Gets the intersection between two 3D polygons. More...

bool	mrpt::math::intersect (const TSegment3D &s1, const TPolygon3D &p2, TObject3D &obj)
	Gets the intersection between a 3D segment and a 3D polygon. More...

bool	mrpt::math::intersect (const TLine3D &r1, const TPolygon3D &p2, TObject3D &obj)
	Gets the intersection between a 3D line and a 3D polygon. More...

bool	mrpt::math::intersect (const TPlane &p1, const TPolygon3D &p2, TObject3D &obj)
	Gets the intersection between a plane and a 3D polygon. More...

size_t BASE_IMPEXP	mrpt::math::intersect (const std::vector< TPolygon3D > &v1, const std::vector< TPolygon3D > &v2, CSparseMatrixTemplate< TObject3D > &objs)
	Gets the intersection between two sets of 3D polygons. More...

size_t BASE_IMPEXP	mrpt::math::intersect (const std::vector< TPolygon3D > &v1, const std::vector< TPolygon3D > &v2, std::vector< TObject3D > &objs)
	Gets the intersection between two sets of 3D polygons. More...

Other intersections
template<class T , class U , class O >
size_t	mrpt::math::intersect (const std::vector< T > &v1, const std::vector< U > &v2, CSparseMatrixTemplate< O > &objs)
	Gets the intersection between vectors of geometric objects and returns it in a sparse matrix of either TObject2D or TObject3D. More...

template<class T , class U , class O >
size_t	mrpt::math::intersect (const std::vector< T > &v1, const std::vector< U > &v2, std::vector< O > objs)
	Gets the intersection between vectors of geometric objects and returns it in a vector of either TObject2D or TObject3D. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TObject2D &o1, const TObject2D &o2, TObject2D &obj)
	Gets the intersection between any pair of 2D objects. More...

bool BASE_IMPEXP	mrpt::math::intersect (const TObject3D &o1, const TObject3D &o2, TObject3D &obj)
	Gets the intersection between any pair of 3D objects. More...

Distances
double BASE_IMPEXP	mrpt::math::distance (const TPoint2D &p1, const TPoint2D &p2)
	Gets the distance between two points in a 2D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPoint3D &p1, const TPoint3D &p2)
	Gets the distance between two points in a 3D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TLine2D &r1, const TLine2D &r2)
	Gets the distance between two lines in a 2D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TLine3D &r1, const TLine3D &r2)
	Gets the distance between two lines in a 3D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPlane &p1, const TPlane &p2)
	Gets the distance between two planes. It will be zero if the planes are not parallel. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon2D &p1, const TPolygon2D &p2)
	Gets the distance between two polygons in a 2D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon2D &p1, const TSegment2D &s2)
	Gets the distance between a polygon and a segment in a 2D space. More...

double	mrpt::math::distance (const TSegment2D &s1, const TPolygon2D &p2)
	Gets the distance between a segment and a polygon in a 2D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon2D &p1, const TLine2D &l2)
	Gets the distance between a polygon and a line in a 2D space. More...

double	mrpt::math::distance (const TLine2D &l1, const TPolygon2D &p2)

double BASE_IMPEXP	mrpt::math::distance (const TPolygon3D &p1, const TPolygon3D &p2)
	Gets the distance between two polygons in a 3D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon3D &p1, const TSegment3D &s2)
	Gets the distance between a polygon and a segment in a 3D space. More...

double	mrpt::math::distance (const TSegment3D &s1, const TPolygon3D &p2)
	Gets the distance between a segment and a polygon in a 3D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon3D &p1, const TLine3D &l2)
	Gets the distance between a polygon and a line in a 3D space. More...

double	mrpt::math::distance (const TLine3D &l1, const TPolygon3D &p2)
	Gets the distance between a line and a polygon in a 3D space. More...

double BASE_IMPEXP	mrpt::math::distance (const TPolygon3D &po, const TPlane &pl)
	Gets the distance between a polygon and a plane. More...

double	mrpt::math::distance (const TPlane &pl, const TPolygon3D &po)
	Gets the distance between a plane and a polygon. More...

Bound checkers
void BASE_IMPEXP	mrpt::math::getRectangleBounds (const std::vector< TPoint2D > &poly, TPoint2D &pMin, TPoint2D &pMax)
	Gets the rectangular bounds of a 2D polygon or set of 2D points. More...

void BASE_IMPEXP	mrpt::math::getPrismBounds (const std::vector< TPoint3D > &poly, TPoint3D &pMin, TPoint3D &pMax)
	Gets the prism bounds of a 3D polygon or set of 3D points. More...

Creation of planes from poses
void BASE_IMPEXP	mrpt::math::createPlaneFromPoseXY (const mrpt::poses::CPose3D &pose, TPlane &plane)
	Given a pose, creates a plane orthogonal to its Z vector. More...

void BASE_IMPEXP	mrpt::math::createPlaneFromPoseXZ (const mrpt::poses::CPose3D &pose, TPlane &plane)
	Given a pose, creates a plane orthogonal to its Y vector. More...

void BASE_IMPEXP	mrpt::math::createPlaneFromPoseYZ (const mrpt::poses::CPose3D &pose, TPlane &plane)
	Given a pose, creates a plane orthogonal to its X vector. More...

void BASE_IMPEXP	mrpt::math::createPlaneFromPoseAndNormal (const mrpt::poses::CPose3D &pose, const double(&normal)[3], TPlane &plane)
	Given a pose and any vector, creates a plane orthogonal to that vector in the pose's coordinates. More...

void BASE_IMPEXP	mrpt::math::generateAxisBaseFromDirectionAndAxis (const double(&vec)[3], char coord, CMatrixDouble &matrix)
	Creates a homogeneus matrix (4x4) such that the coordinate given (0 for x, 1 for y, 2 for z) corresponds to the provided vector. More...

Linear regression methods
double BASE_IMPEXP	mrpt::math::getRegressionLine (const std::vector< TPoint2D > &points, TLine2D &line)
	Using eigenvalues, gets the best fitting line for a set of 2D points. More...

double BASE_IMPEXP	mrpt::math::getRegressionLine (const std::vector< TPoint3D > &points, TLine3D &line)
	Using eigenvalues, gets the best fitting line for a set of 3D points. More...

double BASE_IMPEXP	mrpt::math::getRegressionPlane (const std::vector< TPoint3D > &points, TPlane &plane)
	Using eigenvalues, gets the best fitting plane for a set of 3D points. More...

Miscellaneous Geometry methods
void BASE_IMPEXP	mrpt::math::assemblePolygons (const std::vector< TSegment3D > &segms, std::vector< TPolygon3D > &polys)
	Tries to assemble a set of segments into a set of closed polygons. More...

void BASE_IMPEXP	mrpt::math::assemblePolygons (const std::vector< TSegment3D > &segms, std::vector< TPolygon3D > &polys, std::vector< TSegment3D > &remainder)
	Tries to assemble a set of segments into a set of closed polygons, returning the unused segments as another out parameter. More...

void BASE_IMPEXP	mrpt::math::assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys)
	Extracts all the polygons, including those formed from segments, from the set of objects. More...

void BASE_IMPEXP	mrpt::math::assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys, std::vector< TObject3D > &remainder)
	Extracts all the polygons, including those formed from segments, from the set of objects. More...

void BASE_IMPEXP	mrpt::math::assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys, std::vector< TSegment3D > &remainder1, std::vector< TObject3D > &remainder2)
	Extracts all the polygons, including those formed from segments, from the set of objects. More...

void	mrpt::math::setEpsilon (double nE)
	Changes the value of the geometric epsilon. More...

double	mrpt::math::getEpsilon ()
	Gets the value of the geometric epsilon. More...

bool BASE_IMPEXP	mrpt::math::splitInConvexComponents (const TPolygon2D &poly, std::vector< TPolygon2D > &components)
	Splits a 2D polygon into convex components. More...

bool BASE_IMPEXP	mrpt::math::splitInConvexComponents (const TPolygon3D &poly, std::vector< TPolygon3D > &components)
	Splits a 3D polygon into convex components. More...

void BASE_IMPEXP	mrpt::math::getSegmentBisector (const TSegment2D &sgm, TLine2D &bis)
	Gets the bisector of a 2D segment. More...

void BASE_IMPEXP	mrpt::math::getSegmentBisector (const TSegment3D &sgm, TPlane &bis)
	Gets the bisector of a 3D segment. More...

void BASE_IMPEXP	mrpt::math::getAngleBisector (const TLine2D &l1, const TLine2D &l2, TLine2D &bis)
	Gets the bisector of two lines or segments (implicit constructor will be used if necessary) More...

void BASE_IMPEXP	mrpt::math::getAngleBisector (const TLine3D &l1, const TLine3D &l2, TLine3D &bis)
	Gets the bisector of two lines or segments (implicit constructor will be used if necessary) More...

bool BASE_IMPEXP	mrpt::math::traceRay (const std::vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
	Fast ray tracing method using polygons' properties. More...

bool	mrpt::math::traceRay (const std::vector< TPolygon3D > &vec, const mrpt::poses::CPose3D &pose, double &dist)
	Fast ray tracing method using polygons' properties. More...

template<class T , class U , class V >
void	mrpt::math::crossProduct3D (const T &v0, const U &v1, V &vOut)
	Computes the cross product of two 3D vectors, returning a vector normal to both. More...

template<class T >
void	mrpt::math::crossProduct3D (const std::vector< T > &v0, const std::vector< T > &v1, std::vector< T > &v_out)

template<class VEC1 , class VEC2 >
Eigen::Matrix< double, 3, 1 >	mrpt::math::crossProduct3D (const VEC1 &v0, const VEC2 &v1)
	overload (returning a vector of size 3 by value). More...

template<class VECTOR , class MATRIX >
void	mrpt::math::skew_symmetric3 (const VECTOR &v, MATRIX &M)
	Computes the 3x3 skew symmetric matrix from a 3-vector or 3-array: $M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{array} \right)$ . More...

template<class VECTOR >
mrpt::math::CMatrixDouble33	mrpt::math::skew_symmetric3 (const VECTOR &v)

template<class VECTOR , class MATRIX >
void	mrpt::math::skew_symmetric3_neg (const VECTOR &v, MATRIX &M)
	Computes the negative version of a 3x3 skew symmetric matrix from a 3-vector or 3-array: $-M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & z & -y \\ -z & 0 & x \\ y & -x & 0 \end{array} \right)$ . More...

template<class VECTOR >
mrpt::math::CMatrixDouble33	mrpt::math::skew_symmetric3_neg (const VECTOR &v)

template<class T , class U >
bool	mrpt::math::vectorsAreParallel2D (const T &v1, const U &v2)
	Returns true if two 2D vectors are parallel. More...

template<class T , class U >
bool	mrpt::math::vectorsAreParallel3D (const T &v1, const U &v2)
	Returns true if two 3D vectors are parallel. More...

void BASE_IMPEXP	mrpt::math::closestFromPointToSegment (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2, double &out_x, double &out_y)
	Computes the closest point from a given point to a segment. More...

void BASE_IMPEXP	mrpt::math::closestFromPointToLine (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2, double &out_x, double &out_y)
	Computes the closest point from a given point to a (infinite) line. More...

double BASE_IMPEXP	mrpt::math::closestSquareDistanceFromPointToLine (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2)
	Returns the square distance from a point to a line. More...

template<typename T >
T	mrpt::math::distanceBetweenPoints (const T x1, const T y1, const T x2, const T y2)
	Returns the distance between 2 points in 2D. More...

template<typename T >
T	mrpt::math::distanceBetweenPoints (const T x1, const T y1, const T z1, const T x2, const T y2, const T z2)
	Returns the distance between 2 points in 3D. More...

template<typename T >
T	mrpt::math::distanceSqrBetweenPoints (const T x1, const T y1, const T x2, const T y2)
	Returns the square distance between 2 points in 2D. More...

template<typename T >
T	mrpt::math::distanceSqrBetweenPoints (const T x1, const T y1, const T z1, const T x2, const T y2, const T z2)
	Returns the square distance between 2 points in 3D. More...

template<typename T >
double	mrpt::math::minimumDistanceFromPointToSegment (const double Px, const double Py, const double x1, const double y1, const double x2, const double y2, T &out_x, T &out_y)
	Computes the closest point from a given point to a segment, and returns that minimum distance. More...

bool BASE_IMPEXP	mrpt::math::SegmentsIntersection (const double x1, const double y1, const double x2, const double y2, const double x3, const double y3, const double x4, const double y4, double &ix, double &iy)
	Returns the intersection point, and if it exists, between two segments. More...

bool BASE_IMPEXP	mrpt::math::SegmentsIntersection (const double x1, const double y1, const double x2, const double y2, const double x3, const double y3, const double x4, const double y4, float &ix, float &iy)
	Returns the intersection point, and if it exists, between two segments. More...

bool BASE_IMPEXP	mrpt::math::pointIntoPolygon2D (const double &px, const double &py, unsigned int polyEdges, const double poly_xs, const double poly_ys)
	Returns true if the 2D point (px,py) falls INTO the given polygon. More...

template<typename T >
bool	mrpt::math::pointIntoQuadrangle (T x, T y, T v1x, T v1y, T v2x, T v2y, T v3x, T v3y, T v4x, T v4y)
	Specialized method to check whether a point (x,y) falls into a quadrangle. More...

double BASE_IMPEXP	mrpt::math::distancePointToPolygon2D (const double &px, const double &py, unsigned int polyEdges, const double poly_xs, const double poly_ys)
	Returns the closest distance of a given 2D point to a polygon, or "0" if the point is INTO the polygon or its perimeter. More...

bool BASE_IMPEXP	mrpt::math::minDistBetweenLines (const double &p1_x, const double &p1_y, const double &p1_z, const double &p2_x, const double &p2_y, const double &p2_z, const double &p3_x, const double &p3_y, const double &p3_z, const double &p4_x, const double &p4_y, const double &p4_z, double &x, double &y, double &z, double &dist)
	Calculates the minimum distance between a pair of lines. More...

bool BASE_IMPEXP	mrpt::math::RectanglesIntersection (const double &R1_x_min, const double &R1_x_max, const double &R1_y_min, const double &R1_y_max, const double &R2_x_min, const double &R2_x_max, const double &R2_y_min, const double &R2_y_max, const double &R2_pose_x, const double &R2_pose_y, const double &R2_pose_phi)
	Returns whether two rotated rectangles intersect. More...

template<class T >
CMatrixTemplateNumeric< T >	mrpt::math::generateAxisBaseFromDirection (T dx, T dy, T dz)
	Computes an axis base (a set of three 3D normal vectors) with the given vector being the first of them ("X") NOTE: Make sure of passing all floats or doubles and that the template of the receiving matrix is of the same type! More...

SLERP (Spherical Linear Interpolation) functions
template<typename T >
void	mrpt::math::slerp (const CQuaternion< T > &q0, const CQuaternion< T > &q1, const double t, CQuaternion< T > &q)
	SLERP interpolation between two quaternions. More...

void BASE_IMPEXP	mrpt::math::slerp (const mrpt::poses::CPose3D &q0, const mrpt::poses::CPose3D &q1, const double t, mrpt::poses::CPose3D &p)
	SLERP interpolation between two 6D poses - like mrpt::math::slerp for quaternions, but interpolates the [X,Y,Z] coordinates as well. More...

void BASE_IMPEXP	mrpt::math::slerp (const mrpt::poses::CPose3DQuat &q0, const mrpt::poses::CPose3DQuat &q1, const double t, mrpt::poses::CPose3DQuat &p)

void BASE_IMPEXP	mrpt::math::slerp_ypr (const mrpt::math::TPose3D &q0, const mrpt::math::TPose3D &q1, const double t, mrpt::math::TPose3D &p)

Typedef Documentation

◆ TPlane3D

typedef TPlane mrpt::math::TPlane3D

Definition at line 1000 of file lightweight_geom_data.h.

Function Documentation

◆ areAligned() [1/4]

bool mrpt::math::areAligned ( const std::vector< TPoint2D > & points )

Checks whether this set of points acceptably fits a 2D line.

See also: geometryEpsilon

Definition at line 840 of file geometry.cpp.

References mrpt::math::geometryEpsilon, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

◆ areAligned() [2/4]

bool mrpt::math::areAligned	(	const std::vector< TPoint2D > &	points,
		TLine2D &	r
	)

Checks whether this set of points acceptably fits a 2D line, and if it's the case returns it in the second argument.

See also: geometryEpsilon

Definition at line 853 of file geometry.cpp.

References mrpt::math::areAligned().

◆ areAligned() [3/4]

bool mrpt::math::areAligned ( const std::vector< TPoint3D > & points )

Checks whether this set of points acceptably fits a 3D line.

See also: geometryEpsilon

Definition at line 862 of file geometry.cpp.

References mrpt::math::geometryEpsilon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ areAligned() [4/4]

bool mrpt::math::areAligned	(	const std::vector< TPoint3D > &	points,
		TLine3D &	r
	)

Checks whether this set of points acceptably fits a 3D line, and if it's the case returns it in the second argument.

Definition at line 876 of file geometry.cpp.

References mrpt::math::areAligned(), and mrpt::math::TLine3D.

◆ assemblePolygons() [1/5]

void mrpt::math::assemblePolygons	(	const std::vector< TSegment3D > &	segms,
		std::vector< TPolygon3D > &	polys
	)

Tries to assemble a set of segments into a set of closed polygons.

Definition at line 1720 of file geometry.cpp.

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

◆ assemblePolygons() [2/5]

void mrpt::math::assemblePolygons	(	const std::vector< TSegment3D > &	segms,
		std::vector< TPolygon3D > &	polys,
		std::vector< TSegment3D > &	remainder
	)

Tries to assemble a set of segments into a set of closed polygons, returning the unused segments as another out parameter.

Definition at line 1779 of file geometry.cpp.

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

◆ assemblePolygons() [3/5]

void mrpt::math::assemblePolygons	(	const std::vector< TObject3D > &	objs,
		std::vector< TPolygon3D > &	polys
	)

Extracts all the polygons, including those formed from segments, from the set of objects.

Definition at line 1812 of file geometry.cpp.

References mrpt::math::assemblePolygons(), mrpt::math::TObject3D::getPolygons(), and mrpt::math::TObject3D::getSegments().

◆ assemblePolygons() [4/5]

void mrpt::math::assemblePolygons	(	const std::vector< TObject3D > &	objs,
		std::vector< TPolygon3D > &	polys,
		std::vector< TObject3D > &	remainder
	)

Extracts all the polygons, including those formed from segments, from the set of objects.

Definition at line 1820 of file geometry.cpp.

References mrpt::math::assemblePolygons(), mrpt::math::TObject3D::getPolygons(), and mrpt::math::TObject3D::getSegments().

◆ assemblePolygons() [5/5]

void mrpt::math::assemblePolygons	(	const std::vector< TObject3D > &	objs,
		std::vector< TPolygon3D > &	polys,
		std::vector< TSegment3D > &	remainder1,
		std::vector< TObject3D > &	remainder2
	)

Extracts all the polygons, including those formed from segments, from the set of objects.

Definition at line 1829 of file geometry.cpp.

References mrpt::math::assemblePolygons(), mrpt::math::TObject3D::getPolygons(), and mrpt::math::TObject3D::getSegments().

◆ closestFromPointToLine()

void mrpt::math::closestFromPointToLine	(	const double &	Px,
		const double &	Py,
		const double &	x1,
		const double &	y1,
		const double &	x2,
		const double &	y2,
		double &	out_x,
		double &	out_y
	)

Computes the closest point from a given point to a (infinite) line.

See also: closestFromPointToSegment

Definition at line 77 of file geometry.cpp.

Referenced by mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence().

◆ closestFromPointToSegment()

void mrpt::math::closestFromPointToSegment	(	const double &	Px,
		const double &	Py,
		const double &	x1,
		const double &	y1,
		const double &	x2,
		const double &	y2,
		double &	out_x,
		double &	out_y
	)

Computes the closest point from a given point to a segment.

See also: closestFromPointToLine

Definition at line 33 of file geometry.cpp.

◆ closestSquareDistanceFromPointToLine()

double mrpt::math::closestSquareDistanceFromPointToLine	(	const double &	Px,
		const double &	Py,
		const double &	x1,
		const double &	y1,
		const double &	x2,
		const double &	y2
	)

Returns the square distance from a point to a line.

Definition at line 106 of file geometry.cpp.

References mrpt::math::square().

Referenced by mrpt::slam::CICP::ICP_Method_LM().

◆ conformAPlane() [1/2]

bool mrpt::math::conformAPlane ( const std::vector< TPoint3D > & points )

Checks whether this polygon or set of points acceptably fits a plane.

See also: TPolygon3D,geometryEpsilon

Definition at line 822 of file geometry.cpp.

References mrpt::math::geometryEpsilon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::math::TPolygon3D::getPlane(), and mrpt::math::TPolygon3D::isSkew().

◆ conformAPlane() [2/2]

bool mrpt::math::conformAPlane	(	const std::vector< TPoint3D > &	points,
		TPlane &	p
	)

Checks whether this polygon or set of points acceptably fits a plane, and if it's the case returns it in the second argument.

See also: TPolygon3D,geometryEpsilon

Definition at line 836 of file geometry.cpp.

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

◆ createFromPoseAndVector() [1/2]

void mrpt::math::createFromPoseAndVector	(	const mrpt::poses::CPose3D &	p,
		const double(&)	vector[3],
		TLine3D &	r
	)

Gets a 3D line corresponding to any arbitrary vector, in the base given by the pose.

An implicit constructor is used if a TPose3D is given.

See also: createFromPoseX,createFromPoseY,createFromPoseZ

Definition at line 793 of file geometry.cpp.

◆ createFromPoseAndVector() [2/2]

void mrpt::math::createFromPoseAndVector	(	const TPose2D &	p,
		const double(&)	vector[2],
		TLine2D &	r
	)

Gets a 2D line corresponding to any arbitrary vector, in the base given the given pose.

An implicit constructor is used if a CPose2D is given.

See also: createFromPoseY,createFromPoseAndVector

Definition at line 814 of file geometry.cpp.

◆ createFromPoseX() [1/2]

void mrpt::math::createFromPoseX	(	const mrpt::poses::CPose3D &	p,
		TLine3D &	r
	)

Gets a 3D line corresponding to the X axis in a given pose.

An implicit constructor is used if a TPose3D is given.

See also: createFromPoseY,createFromPoseZ,createFromPoseAndVector

Definition at line 781 of file geometry.cpp.

References createFromPoseAndAxis().

Referenced by mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid::traceRay(), and mrpt::math::traceRay().

◆ createFromPoseX() [2/2]

void mrpt::math::createFromPoseX	(	const TPose2D &	p,
		TLine2D &	r
	)

Gets a 2D line corresponding to the X axis in a given pose.

An implicit constructor is used if a CPose2D is given.

See also: createFromPoseY,createFromPoseAndVector

Definition at line 802 of file geometry.cpp.

◆ createFromPoseY() [1/2]

void mrpt::math::createFromPoseY	(	const mrpt::poses::CPose3D &	p,
		TLine3D &	r
	)

Gets a 3D line corresponding to the Y axis in a given pose.

An implicit constructor is used if a TPose3D is given.

See also: createFromPoseX,createFromPoseZ,createFromPoseAndVector

Definition at line 785 of file geometry.cpp.

References createFromPoseAndAxis().

◆ createFromPoseY() [2/2]

void mrpt::math::createFromPoseY	(	const TPose2D &	p,
		TLine2D &	r
	)

Gets a 2D line corresponding to the Y axis in a given pose.

An implicit constructor is used if a CPose2D is given.

See also: createFromPoseX,createFromPoseAndVector

Definition at line 808 of file geometry.cpp.

◆ createFromPoseZ()

void mrpt::math::createFromPoseZ	(	const mrpt::poses::CPose3D &	p,
		TLine3D &	r
	)

Gets a 3D line corresponding to the Z axis in a given pose.

An implicit constructor is used if a TPose3D is given.

See also: createFromPoseX,createFromPoseY,createFromPoseAndVector

Definition at line 789 of file geometry.cpp.

References createFromPoseAndAxis().

◆ createPlaneFromPoseAndNormal()

void mrpt::math::createPlaneFromPoseAndNormal	(	const mrpt::poses::CPose3D &	pose,
		const double(&)	normal[3],
		TPlane &	plane
	)

Given a pose and any vector, creates a plane orthogonal to that vector in the pose's coordinates.

See also: createPlaneFromPoseXY,createPlaneFromPoseXZ,createPlaneFromPoseYZ

Definition at line 1635 of file geometry.cpp.

References mrpt::math::TPlane::coefs, and mrpt::poses::CPose3D::getHomogeneousMatrixVal().

◆ createPlaneFromPoseXY()

void mrpt::math::createPlaneFromPoseXY	(	const mrpt::poses::CPose3D &	pose,
		TPlane &	plane
	)

Given a pose, creates a plane orthogonal to its Z vector.

See also: createPlaneFromPoseXZ,createPlaneFromPoseYZ,createPlaneFromPoseAndNormal

Definition at line 1623 of file geometry.cpp.

References createPlaneFromPoseAndAxis().

◆ createPlaneFromPoseXZ()

void mrpt::math::createPlaneFromPoseXZ	(	const mrpt::poses::CPose3D &	pose,
		TPlane &	plane
	)

Given a pose, creates a plane orthogonal to its Y vector.

See also: createPlaneFromPoseXY,createPlaneFromPoseYZ,createPlaneFromPoseAndNormal

Definition at line 1627 of file geometry.cpp.

References createPlaneFromPoseAndAxis().

◆ createPlaneFromPoseYZ()

void mrpt::math::createPlaneFromPoseYZ	(	const mrpt::poses::CPose3D &	pose,
		TPlane &	plane
	)

Given a pose, creates a plane orthogonal to its X vector.

See also: createPlaneFromPoseXY,createPlaneFromPoseXZ,createPlaneFromPoseAndNormal

Definition at line 1631 of file geometry.cpp.

References createPlaneFromPoseAndAxis().

◆ crossProduct3D() [1/3]

template<class T , class U , class V >

void mrpt::math::crossProduct3D	(	const T &	v0,
		const U &	v1,
		V &	vOut
	)

inline

Computes the cross product of two 3D vectors, returning a vector normal to both.

It uses the simple implementation:

$v_out = \left( \begin{array}{c c c} \hat{i} ~ \hat{j} ~ \hat{k} \\ x0 ~ y0 ~ z0 \\ x1 ~ y1 ~ z1 \\ \end{array} \right)$

Definition at line 616 of file geometry.h.

Referenced by mrpt::math::distance(), mrpt::topography::ENUToGeocentric(), mrpt::vision::findMultipleChessboardsCorners(), mrpt::math::generateAxisBaseFromDirection(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::math::intersect(), mrpt::opengl::CArrow::render_dl(), and mrpt::math::TPlane::TPlane().

◆ crossProduct3D() [2/3]

template<class T >

void mrpt::math::crossProduct3D	(	const std::vector< T > &	v0,
		const std::vector< T > &	v1,
		std::vector< T > &	v_out
	)

inline

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 624 of file geometry.h.

◆ crossProduct3D() [3/3]

template<class VEC1 , class VEC2 >

Eigen::Matrix<double,3,1> mrpt::math::crossProduct3D	(	const VEC1 &	v0,
		const VEC2 &	v1
	)

inline

overload (returning a vector of size 3 by value).

Definition at line 639 of file geometry.h.

References ASSERT_.

◆ distance() [1/17]

double mrpt::math::distance	(	const TPoint2D &	p1,
		const TPoint2D &	p2
	)

Gets the distance between two points in a 2D space.

Definition at line 1504 of file geometry.cpp.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ distance() [2/17]

double mrpt::math::distance	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)

Gets the distance between two points in a 3D space.

Definition at line 1510 of file geometry.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ distance() [3/17]

double mrpt::math::distance	(	const TLine2D &	r1,
		const TLine2D &	r2
	)

Gets the distance between two lines in a 2D space.

Definition at line 1530 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, mrpt::math::TLine2D::distance(), and mrpt::math::geometryEpsilon.

◆ distance() [4/17]

double mrpt::math::distance	(	const TLine3D &	r1,
		const TLine3D &	r2
	)

Gets the distance between two lines in a 3D space.

Definition at line 1541 of file geometry.cpp.

References mrpt::math::crossProduct3D(), mrpt::math::TLine3D::director, mrpt::math::TLine3D::distance(), mrpt::math::geometryEpsilon, mrpt::math::getAngle(), and mrpt::math::TLine3D::pBase.

◆ distance() [5/17]

double mrpt::math::distance	(	const TPlane &	p1,
		const TPlane &	p2
	)

Gets the distance between two planes. It will be zero if the planes are not parallel.

Definition at line 1552 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::TPlane::distance(), mrpt::math::geometryEpsilon, and mrpt::math::getAngle().

◆ distance() [6/17]

double mrpt::math::distance	(	const TPolygon2D &	p1,
		const TPolygon2D &	p2
	)

Gets the distance between two polygons in a 2D space.

Definition at line 1564 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [7/17]

double mrpt::math::distance	(	const TPolygon2D &	p1,
		const TSegment2D &	s2
	)

Gets the distance between a polygon and a segment in a 2D space.

Definition at line 1569 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [8/17]

double mrpt::math::distance	(	const TSegment2D &	s1,
		const TPolygon2D &	p2
	)

inline

Gets the distance between a segment and a polygon in a 2D space.

Definition at line 437 of file geometry.h.

◆ distance() [9/17]

double mrpt::math::distance	(	const TPolygon2D &	p1,
		const TLine2D &	l2
	)

Gets the distance between a polygon and a line in a 2D space.

Definition at line 1574 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [10/17]

double mrpt::math::distance	(	const TLine2D &	l1,
		const TPolygon2D &	p2
	)

inline

Definition at line 441 of file geometry.h.

◆ distance() [11/17]

double mrpt::math::distance	(	const TPolygon3D &	p1,
		const TPolygon3D &	p2
	)

Gets the distance between two polygons in a 3D space.

Definition at line 1579 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [12/17]

double mrpt::math::distance	(	const TPolygon3D &	p1,
		const TSegment3D &	s2
	)

Gets the distance between a polygon and a segment in a 3D space.

Definition at line 1584 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [13/17]

double mrpt::math::distance	(	const TSegment3D &	s1,
		const TPolygon3D &	p2
	)

inline

Gets the distance between a segment and a polygon in a 3D space.

Definition at line 447 of file geometry.h.

◆ distance() [14/17]

double mrpt::math::distance	(	const TPolygon3D &	p1,
		const TLine3D &	l2
	)

Gets the distance between a polygon and a line in a 3D space.

Definition at line 1589 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [15/17]

double mrpt::math::distance	(	const TLine3D &	l1,
		const TPolygon3D &	p2
	)

inline

Gets the distance between a line and a polygon in a 3D space.

Definition at line 452 of file geometry.h.

◆ distance() [16/17]

double mrpt::math::distance	(	const TPolygon3D &	po,
		const TPlane &	pl
	)

Gets the distance between a polygon and a plane.

Definition at line 1594 of file geometry.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ distance() [17/17]

double mrpt::math::distance	(	const TPlane &	pl,
		const TPolygon3D &	po
	)

inline

Gets the distance between a plane and a polygon.

Definition at line 457 of file geometry.h.

◆ distanceBetweenPoints() [1/2]

template<typename T >

T mrpt::math::distanceBetweenPoints	(	const T	x1,
		const T	y1,
		const T	x2,
		const T	y2
	)

Returns the distance between 2 points in 2D.

Definition at line 754 of file geometry.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::tfest::se2_l2_robust().

◆ distanceBetweenPoints() [2/2]

template<typename T >

T mrpt::math::distanceBetweenPoints	(	const T	x1,
		const T	y1,
		const T	z1,
		const T	x2,
		const T	y2,
		const T	z2
	)

Returns the distance between 2 points in 3D.

Definition at line 760 of file geometry.h.

◆ distancePointToPolygon2D()

double mrpt::math::distancePointToPolygon2D	(	const double &	px,
		const double &	py,
		unsigned int	polyEdges,
		const double *	poly_xs,
		const double *	poly_ys
	)

Returns the closest distance of a given 2D point to a polygon, or "0" if the point is INTO the polygon or its perimeter.

Definition at line 273 of file geometry.cpp.

References min, mrpt::math::minimumDistanceFromPointToSegment(), and mrpt::math::pointIntoPolygon2D().

◆ distanceSqrBetweenPoints() [1/2]

template<typename T >

T mrpt::math::distanceSqrBetweenPoints	(	const T	x1,
		const T	y1,
		const T	x2,
		const T	y2
	)

Returns the square distance between 2 points in 2D.

Definition at line 766 of file geometry.h.

◆ distanceSqrBetweenPoints() [2/2]

template<typename T >

T mrpt::math::distanceSqrBetweenPoints	(	const T	x1,
		const T	y1,
		const T	z1,
		const T	x2,
		const T	y2,
		const T	z2
	)

Returns the square distance between 2 points in 3D.

Definition at line 772 of file geometry.h.

◆ generateAxisBaseFromDirection()

template<class T >

CMatrixTemplateNumeric<T> mrpt::math::generateAxisBaseFromDirection	(	T	dx,
		T	dy,
		T	dz
	)

Computes an axis base (a set of three 3D normal vectors) with the given vector being the first of them ("X") NOTE: Make sure of passing all floats or doubles and that the template of the receiving matrix is of the same type!

If $ d = [ dx ~ dy ~ dz ] $ is the input vector, then this function returns a matrix $ M $ such as:

$M = \left( \begin{array}{c c c} v^1_x ~ v^2_x ~ v^3_x \\ v^1_y ~ v^2_y ~ v^3_y \\ v^1_z ~ v^2_z ~ v^3_z \end{array} \right)$

And the three normal vectors are computed as:

$v^1 = \frac{d}{|d|}$

 If (dx!=0 or dy!=0):

$v^2 = \frac{[-dy ~ dx ~ 0 ]}{\sqrt{dx^2+dy^2}}$

otherwise (the direction vector is vertical):

$v^2 = [1 ~ 0 ~ 0]$

 And finally, the third vector is the cross product of the others:

$v^3 = v^1 \times v^2$

Returns: The 3x3 matrix (CMatrixTemplateNumeric<T>), containing one vector per column. Throws an std::exception on invalid input (i.e. null direction vector)

See also: generateAxisBaseFromDirectionAndAxis()

(JLB @ 18-SEP-2007)

Definition at line 918 of file geometry.h.

References mrpt::math::crossProduct3D(), MRPT_END, MRPT_START, mrpt::math::square(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation().

◆ generateAxisBaseFromDirectionAndAxis()

void mrpt::math::generateAxisBaseFromDirectionAndAxis	(	const double(&)	vec[3],
		char	coord,
		CMatrixDouble &	matrix
	)

Creates a homogeneus matrix (4x4) such that the coordinate given (0 for x, 1 for y, 2 for z) corresponds to the provided vector.

Parameters

[in] vec must be a unitary vector

See also: generateAxisBaseFromDirectionAndAxis()

Definition at line 1645 of file geometry.cpp.

References mrpt::math::geometryEpsilon.

Referenced by mrpt::math::TPlane::getAsPose3D(), and mrpt::math::TPlane::getAsPose3DForcingOrigin().

◆ getAngle() [1/5]

double mrpt::math::getAngle	(	const TPlane &	p1,
		const TPlane &	p2
	)

Computes the angle between two planes.

Definition at line 726 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::geometryEpsilon, and M_PI.

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

◆ getAngle() [2/5]

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

Computes the angle between a plane and a 3D line or segment (implicit constructor will be used if passing a segment instead of a line).

Definition at line 739 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::TLine3D::director, mrpt::math::geometryEpsilon, M_PI, and mrpt::utils::sign().

◆ getAngle() [3/5]

double mrpt::math::getAngle	(	const TLine3D &	r1,
		const TPlane &	p2
	)

inline

Computes the angle between a 3D line or segment and a plane (implicit constructor will be used if passing a segment instead of a line).

Definition at line 179 of file geometry.h.

References mrpt::math::getAngle().

◆ getAngle() [4/5]

double mrpt::math::getAngle	(	const TLine3D &	r1,
		const TLine3D &	r2
	)

Computes the accute relative angle (range: [-PI/2,PI/2]) between two lines.

Note: Implicit constructor allows passing a segment as argument too.

Definition at line 752 of file geometry.cpp.

References mrpt::math::TLine3D::director, mrpt::math::geometryEpsilon, and M_PI.

◆ getAngle() [5/5]

double mrpt::math::getAngle	(	const TLine2D &	r1,
		const TLine2D &	r2
	)

Computes the relative angle (range: [-PI,PI]) of line 2 wrt line 1.

Note: Implicit constructor allows passing a segment as argument too.

Definition at line 765 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, and mrpt::math::wrapToPi().

◆ getAngleBisector() [1/2]

void mrpt::math::getAngleBisector	(	const TLine2D &	l1,
		const TLine2D &	l2,
		TLine2D &	bis
	)

Gets the bisector of two lines or segments (implicit constructor will be used if necessary)

Definition at line 1948 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, mrpt::math::geometryEpsilon, mrpt::math::intersect(), mrpt::math::square(), and mrpt::math::TLine2D::unitarize().

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

◆ getAngleBisector() [2/2]

void mrpt::math::getAngleBisector	(	const TLine3D &	l1,
		const TLine3D &	l2,
		TLine3D &	bis
	)

Gets the bisector of two lines or segments (implicit constructor will be used if necessary)

Exceptions

std::logic_error if the lines do not fit in a single plane.

Definition at line 1976 of file geometry.cpp.

References mrpt::math::getAngleBisector(), mrpt::math::project3D(), and mrpt::math::TLine3D.

◆ getEpsilon()

double mrpt::math::getEpsilon ( )

inline

Gets the value of the geometric epsilon.

See also: geometryEpsilon,setEpsilon

Definition at line 557 of file geometry.h.

References mrpt::math::geometryEpsilon.

◆ getPrismBounds()

void mrpt::math::getPrismBounds	(	const std::vector< TPoint3D > &	poly,
		TPoint3D &	pMin,
		TPoint3D &	pMax
	)

Gets the prism bounds of a 3D polygon or set of 3D points.

Definition at line 1599 of file geometry.cpp.

References min, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::math::TPolygon3D::contains(), getMinAndMaxBounds(), and mrpt::math::intersect().

◆ getRectangleBounds()

void mrpt::math::getRectangleBounds	(	const std::vector< TPoint2D > &	poly,
		TPoint2D &	pMin,
		TPoint2D &	pMax
	)

Gets the rectangular bounds of a 2D polygon or set of 2D points.

Definition at line 1517 of file geometry.cpp.

References min, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ getRegressionLine() [1/2]

double mrpt::math::getRegressionLine	(	const std::vector< TPoint2D > &	points,
		TLine2D &	line
	)

Using eigenvalues, gets the best fitting line for a set of 2D points.

Returns an estimation of the error.

See also: spline, leastSquareLinearFit

Definition at line 1667 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, and mrpt::math::covariancesAndMean().

◆ getRegressionLine() [2/2]

double mrpt::math::getRegressionLine	(	const std::vector< TPoint3D > &	points,
		TLine3D &	line
	)

Using eigenvalues, gets the best fitting line for a set of 3D points.

Returns an estimation of the error.

See also: spline, leastSquareLinearFit

Definition at line 1689 of file geometry.cpp.

References mrpt::math::covariancesAndMean(), mrpt::math::TLine3D::director, getIndexOfMax(), and mrpt::math::TLine3D::pBase.

◆ getRegressionPlane()

double mrpt::math::getRegressionPlane	(	const std::vector< TPoint3D > &	points,
		TPlane &	plane
	)

Using eigenvalues, gets the best fitting plane for a set of 3D points.

Returns an estimation of the error.

See also: spline, leastSquareLinearFit

Definition at line 1703 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::covariancesAndMean(), mrpt::math::geometryEpsilon, and getIndexOfMin().

Referenced by mrpt::detectors::CFaceDetection::checkIfFacePlane(), mrpt::math::conformAPlane(), mrpt::math::TPolygon3D::getBestFittingPlane(), and getPlanes().

◆ getSegmentBisector() [1/2]

void mrpt::math::getSegmentBisector	(	const TSegment2D &	sgm,
		TLine2D &	bis
	)

Gets the bisector of a 2D segment.

Definition at line 1929 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, mrpt::math::TSegment2D::getCenter(), mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::math::TLine2D::unitarize(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ getSegmentBisector() [2/2]

void mrpt::math::getSegmentBisector	(	const TSegment3D &	sgm,
		TPlane &	bis
	)

Gets the bisector of a 3D segment.

Definition at line 1938 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::TSegment3D::getCenter(), mrpt::math::TSegment3D::point1, mrpt::math::TSegment3D::point2, mrpt::math::TPlane::unitarize(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ intersect() [1/31]

bool mrpt::math::intersect	(	const TSegment3D &	s1,
		const TSegment3D &	s2,
		TObject3D &	obj
	)

Gets the intersection between two 3D segments.

Possible outcomes:

Segments intersect: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
Segments don't intersect & are parallel: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT, obj is the segment "in between" both segments.
Segments don't intersect & aren't parallel: Return=false.
See also
TObject3D

Definition at line 568 of file geometry.cpp.

References mrpt::math::TSegment3D::contains(), mrpt::math::TObject3D::getPoint(), intersectInCommonLine(), mrpt::math::TObject3D::isPoint(), and mrpt::math::TLine3D.

Referenced by mrpt::math::getAngleBisector(), mrpt::opengl::CPolyhedron::getIntersection(), getPlanesIntersection(), mrpt::math::intersect(), intersect(), intersectAux(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::math::splitInConvexComponents(), TEST(), and mrpt::math::traceRay().

◆ intersect() [2/31]

bool mrpt::math::intersect	(	const TSegment3D &	s1,
		const TPlane &	p2,
		TObject3D &	obj
	)

Gets the intersection between a 3D segment and a plane.

Possible outcomes:

Don't intersect: Return=false
s1 is within the plane: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
s1 intersects the plane at one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 583 of file geometry.cpp.

References mrpt::math::TSegment3D::contains(), mrpt::math::intersect(), and mrpt::math::TLine3D.

◆ intersect() [3/31]

bool mrpt::math::intersect	(	const TSegment3D &	s1,
		const TLine3D &	r2,
		TObject3D &	obj
	)

Gets the intersection between a 3D segment and a 3D line.

Possible outcomes:

They don't intersect : Return=false
s1 lies within the line: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
s1 intersects the line at a point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 597 of file geometry.cpp.

References mrpt::math::TSegment3D::contains(), mrpt::math::intersect(), and mrpt::math::TLine3D.

◆ intersect() [4/31]

bool mrpt::math::intersect	(	const TPlane &	p1,
		const TSegment3D &	s2,
		TObject3D &	obj
	)

inline

Gets the intersection between a plane and a 3D segment.

Possible outcomes:

Don't intersect: Return=false
s2 is within the plane: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
s2 intersects the plane at one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 80 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [5/31]

bool mrpt::math::intersect	(	const TPlane &	p1,
		const TPlane &	p2,
		TObject3D &	obj
	)

Gets the intersection between two planes.

Possible outcomes:

Planes are parallel: Return=false
Planes intersect into a line: Return=true, obj.getType()=GEOMETRIC_TYPE_LINE
See also
TObject3D

Definition at line 611 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::crossProduct3D(), mrpt::math::TLine3D::director, mrpt::math::geometryEpsilon, mrpt::math::TLine3D::pBase, and mrpt::math::TLine3D::unitarize().

◆ intersect() [6/31]

bool mrpt::math::intersect	(	const TPlane &	p1,
		const TLine3D &	p2,
		TObject3D &	obj
	)

Gets the intersection between a plane and a 3D line.

Possible outcomes:

Line is parallel to plane but not within it: Return=false
Line is contained in the plane: Return=true, obj.getType()=GEOMETRIC_TYPE_LINE
Line intersects the plane at one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 637 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::TLine3D::director, mrpt::math::TPlane::evaluatePoint(), mrpt::math::geometryEpsilon, mrpt::math::TLine3D::pBase, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ intersect() [7/31]

bool mrpt::math::intersect	(	const TLine3D &	r1,
		const TSegment3D &	s2,
		TObject3D &	obj
	)

inline

Gets the intersection between a 3D line and a 3D segment.

Possible outcomes:

They don't intersect : Return=false
s2 lies within the line: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
s2 intersects the line at a point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 105 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [8/31]

bool mrpt::math::intersect	(	const TLine3D &	r1,
		const TPlane &	p2,
		TObject3D &	obj
	)

inline

Gets the intersection between a 3D line and a plane.

Possible outcomes:

Line is parallel to plane but not within it: Return=false
Line is contained in the plane: Return=true, obj.getType()=GEOMETRIC_TYPE_LINE
Line intersects the plane at one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 115 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [9/31]

bool mrpt::math::intersect	(	const TLine3D &	r1,
		const TLine3D &	r2,
		TObject3D &	obj
	)

Gets the intersection between two 3D lines.

Possible outcomes:

Lines do not intersect: Return=false
Lines are parallel and do not coincide: Return=false
Lines coincide (are the same): Return=true, obj.getType()=GEOMETRIC_TYPE_LINE
Lines intesect in a point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject3D

Definition at line 660 of file geometry.cpp.

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

◆ intersect() [10/31]

bool mrpt::math::intersect	(	const TLine2D &	r1,
		const TLine2D &	r2,
		TObject2D &	obj
	)

Gets the intersection between two 2D lines.

Possible outcomes:

Lines do not intersect: Return=false
Lines are parallel and do not coincide: Return=false
Lines coincide (are the same): Return=true, obj.getType()=GEOMETRIC_TYPE_LINE
Lines intesect in a point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject2D

Definition at line 687 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, and mrpt::math::geometryEpsilon.

◆ intersect() [11/31]

bool mrpt::math::intersect	(	const TLine2D &	r1,
		const TSegment2D &	s2,
		TObject2D &	obj
	)

Gets the intersection between a 2D line and a 2D segment.

Possible outcomes:

They don't intersect: Return=false
s2 lies within the line: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
Both intersects in one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject2D

Definition at line 706 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), and mrpt::math::intersect().

◆ intersect() [12/31]

bool mrpt::math::intersect	(	const TSegment2D &	s1,
		const TLine2D &	r2,
		TObject2D &	obj
	)

inline

Gets the intersection between a 2D line and a 2D segment.

Possible outcomes:

They don't intersect: Return=false
s1 lies within the line: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT
Both intersects in one point: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
See also
TObject2D

Definition at line 151 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [13/31]

bool mrpt::math::intersect	(	const TSegment2D &	s1,
		const TSegment2D &	s2,
		TObject2D &	obj
	)

Gets the intersection between two 2D segments.

Possible outcomes:

Segments intersect: Return=true, obj.getType()=GEOMETRIC_TYPE_POINT
Segments don't intersect & are parallel: Return=true, obj.getType()=GEOMETRIC_TYPE_SEGMENT, obj is the segment "in between" both segments.
Segments don't intersect & aren't parallel: Return=false.
See also
TObject2D

Definition at line 717 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), mrpt::math::intersect(), and intersectInCommonLine().

◆ intersect() [14/31]

bool mrpt::math::intersect	(	const TPolygon2D &	p1,
		const TSegment2D &	s2,
		TObject2D &	obj
	)

Gets the intersection between a 2D polygon and a 2D segment.

See also: TObject2D

Definition at line 1020 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), mrpt::math::intersect(), and intersectInCommonLine().

◆ intersect() [15/31]

bool mrpt::math::intersect	(	const TPolygon2D &	p1,
		const TLine2D &	r2,
		TObject2D &	obj
	)

Gets the intersection between a 2D polygon and a 2D line.

See also: TObject2D

Definition at line 1030 of file geometry.cpp.

References mrpt::math::geometryEpsilon, mrpt::math::TLine2D::getAsPose2D(), mrpt::math::project2D(), and mrpt::utils::sign().

◆ intersect() [16/31]

bool mrpt::math::intersect	(	const TPolygon2D &	p1,
		const TPolygon2D &	p2,
		TObject2D &	obj
	)

Gets the intersection between two 2D polygons.

See also: TObject2D

Definition at line 1210 of file geometry.cpp.

References fromObject(), mrpt::math::CSparseMatrixTemplate< T >::getColCount(), mrpt::math::CSparseMatrixTemplate< T >::getRowCount(), getSegmentsWithLine(), mrpt::math::intersect(), and THROW_EXCEPTION.

◆ intersect() [17/31]

bool mrpt::math::intersect	(	const TSegment2D &	s1,
		const TPolygon2D &	p2,
		TObject2D &	obj
	)

inline

Gets the intersection between a 2D segment and a 2D polygon.

See also: TObject2D

Definition at line 358 of file geometry.h.

◆ intersect() [18/31]

bool mrpt::math::intersect	(	const TLine2D &	r1,
		const TPolygon2D &	p2,
		TObject2D &	obj
	)

inline

Gets the intersection between a 2D line and a 2D polygon.

See also: TObject2D

Definition at line 362 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [19/31]

bool mrpt::math::intersect	(	const TPolygon3D &	p1,
		const TSegment3D &	s2,
		TObject3D &	obj
	)

Gets the intersection between a 3D polygon and a 3D segment.

See also: TObject3D

Definition at line 1256 of file geometry.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TPolygon3D::getPlane(), mrpt::math::intersect(), and mrpt::math::project3D().

◆ intersect() [20/31]

bool mrpt::math::intersect	(	const TPolygon3D &	p1,
		const TLine3D &	r2,
		TObject3D &	obj
	)

Gets the intersection between a 3D polygon and a 3D line.

See also: TObject3D

Definition at line 1275 of file geometry.cpp.

References mrpt::math::TPolygon2D::contains(), mrpt::math::TPolygon3D::getPlane(), mrpt::math::intersect(), and mrpt::math::project3D().

◆ intersect() [21/31]

bool mrpt::math::intersect	(	const TPolygon3D &	p1,
		const TPlane &	p2,
		TObject3D &	obj
	)

Gets the intersection between a 3D polygon and a plane.

See also: TObject3D

Definition at line 1293 of file geometry.cpp.

References mrpt::math::TPolygon3D::getPlane(), and mrpt::math::intersect().

◆ intersect() [22/31]

bool mrpt::math::intersect	(	const TPolygon3D &	p1,
		const TPolygon3D &	p2,
		TObject3D &	obj
	)

Gets the intersection between two 3D polygons.

See also: TObject3D

Definition at line 1332 of file geometry.cpp.

References compatibleBounds(), mrpt::math::TPolygon3D::getPlane(), mrpt::math::getPrismBounds(), and intersectAux().

◆ intersect() [23/31]

bool mrpt::math::intersect	(	const TSegment3D &	s1,
		const TPolygon3D &	p2,
		TObject3D &	obj
	)

inline

Gets the intersection between a 3D segment and a 3D polygon.

See also: TObject3D

Definition at line 374 of file geometry.h.

◆ intersect() [24/31]

bool mrpt::math::intersect	(	const TLine3D &	r1,
		const TPolygon3D &	p2,
		TObject3D &	obj
	)

inline

Gets the intersection between a 3D line and a 3D polygon.

See also: TObject3D

Definition at line 378 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [25/31]

bool mrpt::math::intersect	(	const TPlane &	p1,
		const TPolygon3D &	p2,
		TObject3D &	obj
	)

inline

Gets the intersection between a plane and a 3D polygon.

See also: TObject3D

Definition at line 382 of file geometry.h.

References mrpt::math::intersect().

◆ intersect() [26/31]

size_t mrpt::math::intersect	(	const std::vector< TPolygon3D > &	v1,
		const std::vector< TPolygon3D > &	v2,
		CSparseMatrixTemplate< TObject3D > &	objs
	)

Gets the intersection between two sets of 3D polygons.

The intersection is returned as an sparse matrix with each pair of polygons' intersections, and the return value is the amount of intersections found.

See also: TObject3D,CSparseMatrixTemplate

Definition at line 1365 of file geometry.cpp.

References mrpt::math::CSparseMatrixTemplate< T >::clear(), compatibleBounds(), getMinAndMaxBounds(), mrpt::math::CSparseMatrixTemplate< T >::getNonNullElements(), getPlanes(), intersectAux(), and mrpt::math::CSparseMatrixTemplate< T >::resize().

◆ intersect() [27/31]

size_t mrpt::math::intersect	(	const std::vector< TPolygon3D > &	v1,
		const std::vector< TPolygon3D > &	v2,
		std::vector< TObject3D > &	objs
	)

Gets the intersection between two sets of 3D polygons.

The intersection is returned as a vector with every intersection found, and the return value is the amount of intersections found.

See also: TObject3D

Definition at line 1381 of file geometry.cpp.

References compatibleBounds(), getMinAndMaxBounds(), getPlanes(), and intersectAux().

◆ intersect() [28/31]

template<class T , class U , class O >

size_t mrpt::math::intersect	(	const std::vector< T > &	v1,
		const std::vector< U > &	v2,
		CSparseMatrixTemplate< O > &	objs
	)

Gets the intersection between vectors of geometric objects and returns it in a sparse matrix of either TObject2D or TObject3D.

See also: TObject2D,TObject3D,CSparseMatrix

Definition at line 399 of file geometry.h.

References mrpt::math::CSparseMatrixTemplate< T >::clear(), and mrpt::math::CSparseMatrixTemplate< T >::resize().

◆ intersect() [29/31]

template<class T , class U , class O >

size_t mrpt::math::intersect	(	const std::vector< T > &	v1,
		const std::vector< U > &	v2,
		std::vector< O >	objs
	)

Gets the intersection between vectors of geometric objects and returns it in a vector of either TObject2D or TObject3D.

See also: TObject2D,TObject3D

Definition at line 410 of file geometry.h.

◆ intersect() [30/31]

bool mrpt::math::intersect	(	const TObject2D &	o1,
		const TObject2D &	o2,
		TObject2D &	obj
	)

Gets the intersection between any pair of 2D objects.

Definition at line 1406 of file geometry.cpp.

References mrpt::math::TSegment2D::contains(), mrpt::math::TLine2D::contains(), mrpt::math::TPolygon2D::contains(), mrpt::math::distance(), mrpt::math::geometryEpsilon, mrpt::math::TObject2D::getLine(), mrpt::math::TObject2D::getPoint(), mrpt::math::TObject2D::getPolygon(), mrpt::math::TObject2D::getSegment(), and mrpt::math::intersect().

◆ intersect() [31/31]

bool mrpt::math::intersect	(	const TObject3D &	o1,
		const TObject3D &	o2,
		TObject3D &	obj
	)

Gets the intersection between any pair of 3D objects.

Definition at line 1448 of file geometry.cpp.

References mrpt::math::TSegment3D::contains(), mrpt::math::TLine3D::contains(), mrpt::math::TPlane::contains(), mrpt::math::TPolygon3D::contains(), mrpt::math::distance(), mrpt::math::geometryEpsilon, mrpt::math::TObject3D::getLine(), mrpt::math::TObject3D::getPlane(), mrpt::math::TObject3D::getPoint(), mrpt::math::TObject3D::getPolygon(), mrpt::math::TObject3D::getSegment(), and mrpt::math::intersect().

◆ minDistBetweenLines()

bool mrpt::math::minDistBetweenLines	(	const double &	p1_x,
		const double &	p1_y,
		const double &	p1_z,
		const double &	p2_x,
		const double &	p2_y,
		const double &	p2_z,
		const double &	p3_x,
		const double &	p3_y,
		const double &	p3_z,
		const double &	p4_x,
		const double &	p4_y,
		const double &	p4_z,
		double &	x,
		double &	y,
		double &	z,
		double &	dist
	)

Calculates the minimum distance between a pair of lines.

The lines are given by:

Line 1 = P1 + f (P2-P1)
Line 2 = P3 + f (P4-P3) The Euclidean distance is returned in "dist", and the mid point between the lines in (x,y,z)
Returns
It returns false if there is no solution, i.e. lines are (almost, up to EPS) parallel.

Definition at line 304 of file geometry.cpp.

References mrpt::math::square().

◆ minimumDistanceFromPointToSegment()

template<typename T >

double mrpt::math::minimumDistanceFromPointToSegment	(	const double	Px,
		const double	Py,
		const double	x1,
		const double	y1,
		const double	x2,
		const double	y2,
		T &	out_x,
		T &	out_y
	)

Computes the closest point from a given point to a segment, and returns that minimum distance.

Definition at line 779 of file geometry.h.

Referenced by mrpt::math::distancePointToPolygon2D(), and mrpt::nav::CHolonomicND::evaluateGaps().

◆ operator!=() [1/6]

bool mrpt::math::operator!=	(	const TPoint2D &	p1,
		const TPoint2D &	p2
	)

inline

Exact comparison between 2D points.

Definition at line 545 of file lightweight_geom_data.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ operator!=() [2/6]

bool mrpt::math::operator!=	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)

inline

Exact comparison between 3D points.

Definition at line 557 of file lightweight_geom_data.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator!=() [3/6]

bool mrpt::math::operator!=	(	const TPose2D &	p1,
		const TPose2D &	p2
	)

inline

Exact comparison between 2D poses, taking possible cycles into account.

Definition at line 569 of file lightweight_geom_data.h.

References mrpt::math::TPose2D::phi, mrpt::math::wrapTo2Pi(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ operator!=() [4/6]

bool mrpt::math::operator!=	(	const TPose3D &	p1,
		const TPose3D &	p2
	)

inline

Exact comparison between 3D poses, taking possible cycles into account.

Definition at line 581 of file lightweight_geom_data.h.

References mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::wrapTo2Pi(), mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

◆ operator!=() [5/6]

bool mrpt::math::operator!=	(	const TSegment2D &	s1,
		const TSegment2D &	s2
	)

inline

Definition at line 719 of file lightweight_geom_data.h.

References mrpt::math::TSegment2D::point1, and mrpt::math::TSegment2D::point2.

◆ operator!=() [6/6]

bool mrpt::math::operator!=	(	const TSegment3D &	s1,
		const TSegment3D &	s2
	)

inline

Definition at line 727 of file lightweight_geom_data.h.

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

◆ operator-()

TPoint3D mrpt::math::operator- ( const TPoint3D & p1 )

inline

Unary minus operator for 3D points.

Definition at line 533 of file lightweight_geom_data.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator<<() [1/18]

std::ostream & mrpt::math::operator<<	(	std::ostream &	o,
		const TPoint2D &	p
	)

Definition at line 256 of file lightweight_geom_data.cpp.

◆ operator<<() [2/18]

std::ostream & mrpt::math::operator<<	(	std::ostream &	o,
		const TPoint3D &	p
	)

Definition at line 257 of file lightweight_geom_data.cpp.

◆ operator<<() [3/18]

std::ostream & mrpt::math::operator<<	(	std::ostream &	o,
		const TPose2D &	p
	)

Definition at line 258 of file lightweight_geom_data.cpp.

◆ operator<<() [4/18]

std::ostream & mrpt::math::operator<<	(	std::ostream &	o,
		const TPose3D &	p
	)

Definition at line 259 of file lightweight_geom_data.cpp.

◆ operator<<() [5/18]

std::ostream & mrpt::math::operator<<	(	std::ostream &	o,
		const TPose3DQuat &	p
	)

Definition at line 260 of file lightweight_geom_data.cpp.

◆ operator<<() [6/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TPoint2D &	o
	)

Definition at line 957 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ operator<<() [7/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TPoint3D &	o
	)

Definition at line 968 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator<<() [8/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TPose2D &	o
	)

Definition at line 979 of file lightweight_geom_data.cpp.

References mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ operator<<() [9/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TPose3D &	o
	)

Definition at line 1019 of file lightweight_geom_data.cpp.

References mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

◆ operator<<() [10/18]

CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TSegment2D &	s
	)

Definition at line 263 of file lightweight_geom_data.cpp.

◆ operator<<() [11/18]

CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TLine2D &	l
	)

Definition at line 265 of file lightweight_geom_data.cpp.

References mrpt::math::TLine2D::coefs.

◆ operator<<() [12/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TObject2D &	o
	)

Definition at line 1057 of file lightweight_geom_data.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, mrpt::math::TObject2D::getLine(), mrpt::math::TObject2D::getPoint(), mrpt::math::TObject2D::getPolygon(), mrpt::math::TObject2D::getSegment(), and mrpt::math::TObject2D::getType().

◆ operator<<() [13/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TSegment3D &	s
	)

Definition at line 268 of file lightweight_geom_data.cpp.

◆ operator<<() [14/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TLine3D &	l
	)

Definition at line 270 of file lightweight_geom_data.cpp.

References mrpt::math::TLine3D::director, and mrpt::math::TLine3D::pBase.

◆ operator<<() [15/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TPlane &	p
	)

Definition at line 272 of file lightweight_geom_data.cpp.

◆ operator<<() [16/18]

mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TObject3D &	o
	)

Definition at line 1121 of file lightweight_geom_data.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_PLANE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, mrpt::math::TObject3D::getLine(), mrpt::math::TObject3D::getPlane(), mrpt::math::TObject3D::getPoint(), mrpt::math::TObject3D::getPolygon(), mrpt::math::TObject3D::getSegment(), and mrpt::math::TObject3D::getType().

◆ operator<<() [17/18]

BASE_IMPEXP mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TTwist2D &	o
	)

Definition at line 990 of file lightweight_geom_data.cpp.

References mrpt::math::TTwist2D::size().

◆ operator<<() [18/18]

BASE_IMPEXP mrpt::utils::CStream & mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::math::TTwist3D &	o
	)

Definition at line 1001 of file lightweight_geom_data.cpp.

References mrpt::math::TTwist3D::size().

◆ operator==() [1/6]

bool mrpt::math::operator==	(	const TPoint2D &	p1,
		const TPoint2D &	p2
	)

inline

Exact comparison between 2D points.

Definition at line 539 of file lightweight_geom_data.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ operator==() [2/6]

bool mrpt::math::operator==	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)

inline

Exact comparison between 3D points.

Definition at line 551 of file lightweight_geom_data.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator==() [3/6]

bool mrpt::math::operator==	(	const TPose2D &	p1,
		const TPose2D &	p2
	)

inline

Exact comparison between 2D poses, taking possible cycles into account.

Definition at line 563 of file lightweight_geom_data.h.

References mrpt::math::TPose2D::phi, mrpt::math::wrapTo2Pi(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ operator==() [4/6]

bool mrpt::math::operator==	(	const TPose3D &	p1,
		const TPose3D &	p2
	)

inline

Exact comparison between 3D poses, taking possible cycles into account.

Definition at line 575 of file lightweight_geom_data.h.

References mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::wrapTo2Pi(), mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

◆ operator==() [5/6]

bool mrpt::math::operator==	(	const TSegment2D &	s1,
		const TSegment2D &	s2
	)

inline

Definition at line 715 of file lightweight_geom_data.h.

References mrpt::math::TSegment2D::point1, and mrpt::math::TSegment2D::point2.

◆ operator==() [6/6]

bool mrpt::math::operator==	(	const TSegment3D &	s1,
		const TSegment3D &	s2
	)

inline

Definition at line 723 of file lightweight_geom_data.h.

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

◆ operator>>() [1/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TPoint2D &	o
	)

Definition at line 952 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ operator>>() [2/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TPoint3D &	o
	)

Definition at line 963 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator>>() [3/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TPose2D &	o
	)

Definition at line 974 of file lightweight_geom_data.cpp.

References mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ operator>>() [4/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TPose3D &	o
	)

Definition at line 1014 of file lightweight_geom_data.cpp.

References mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

◆ operator>>() [5/13]

CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TSegment2D &	s
	)

Definition at line 262 of file lightweight_geom_data.cpp.

◆ operator>>() [6/13]

CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TLine2D &	l
	)

Definition at line 264 of file lightweight_geom_data.cpp.

References mrpt::math::TLine2D::coefs.

◆ operator>>() [7/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TObject2D &	o
	)

Definition at line 1025 of file lightweight_geom_data.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, and mrpt::math::GEOMETRIC_TYPE_UNDEFINED.

◆ operator>>() [8/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TSegment3D &	s
	)

Definition at line 267 of file lightweight_geom_data.cpp.

◆ operator>>() [9/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TLine3D &	l
	)

Definition at line 269 of file lightweight_geom_data.cpp.

References mrpt::math::TLine3D::director, and mrpt::math::TLine3D::pBase.

◆ operator>>() [10/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TPlane &	p
	)

Definition at line 271 of file lightweight_geom_data.cpp.

◆ operator>>() [11/13]

mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TObject3D &	o
	)

Definition at line 1084 of file lightweight_geom_data.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_PLANE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, mrpt::math::GEOMETRIC_TYPE_UNDEFINED, and mrpt::math::TObject3D.

◆ operator>>() [12/13]

BASE_IMPEXP mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TTwist2D &	o
	)

Definition at line 985 of file lightweight_geom_data.cpp.

References mrpt::math::TTwist2D::size().

◆ operator>>() [13/13]

BASE_IMPEXP mrpt::utils::CStream & mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::math::TTwist3D &	o
	)

Definition at line 996 of file lightweight_geom_data.cpp.

References mrpt::math::TTwist3D::size().

◆ pointIntoPolygon2D()

bool mrpt::math::pointIntoPolygon2D	(	const double &	px,
		const double &	py,
		unsigned int	polyEdges,
		const double *	poly_xs,
		const double *	poly_ys
	)

Returns true if the 2D point (px,py) falls INTO the given polygon.

See also: pointIntoQuadrangle

Definition at line 246 of file geometry.cpp.

Referenced by mrpt::math::distancePointToPolygon2D().

◆ pointIntoQuadrangle()

template<typename T >

bool mrpt::math::pointIntoQuadrangle	(	T	x,
		T	y,
		T	v1x,
		T	v1y,
		T	v2x,
		T	v2y,
		T	v3x,
		T	v3y,
		T	v4x,
		T	v4y
	)

Specialized method to check whether a point (x,y) falls into a quadrangle.

See also: pointIntoPolygon2D

Definition at line 824 of file geometry.h.

◆ project2D() [1/8]

void mrpt::math::project2D	(	const TPoint2D &	point,
		const mrpt::poses::CPose2D &	newXpose,
		TPoint2D &	newPoint
	)

Uses the given pose 2D to project a point into a new base.

Definition at line 961 of file geometry.cpp.

Referenced by mrpt::math::intersect(), and mrpt::math::project2D().

◆ project2D() [2/8]

void mrpt::math::project2D	(	const TSegment2D &	segment,
		const mrpt::poses::CPose2D &	newXpose,
		TSegment2D &	newSegment
	)

inline

Uses the given pose 2D to project a segment into a new base.

Definition at line 312 of file geometry.h.

◆ project2D() [3/8]

void mrpt::math::project2D	(	const TLine2D &	line,
		const mrpt::poses::CPose2D &	newXpose,
		TLine2D &	newLine
	)

Uses the given pose 2D to project a line into a new base.

Definition at line 965 of file geometry.cpp.

References mrpt::math::TLine2D::coefs, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ project2D() [4/8]

void mrpt::math::project2D	(	const TPolygon2D &	polygon,
		const mrpt::poses::CPose2D &	newXpose,
		TPolygon2D &	newPolygon
	)

Uses the given pose 2D to project a polygon into a new base.

Definition at line 974 of file geometry.cpp.

◆ project2D() [5/8]

void mrpt::math::project2D	(	const TObject2D &	object,
		const mrpt::poses::CPose2D &	newXpose,
		TObject2D &	newObject
	)

Uses the given pose 2D to project any 2D object into a new base.

Definition at line 981 of file geometry.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, and mrpt::math::project2D().

◆ project2D() [6/8]

template<class T , class CPOSE2D >

void mrpt::math::project2D	(	const T &	obj,
		const TLine2D &	newXLine,
		T &	newObj
	)

Projects any 2D object into the line's base, using its inverse pose.

If the object is exactly inside the line, this projection will zero its Y coordinate.

Template Parameters

CPOSE2D set to mrpt::poses::CPose2D

Definition at line 325 of file geometry.h.

References mrpt::math::TLine2D::getAsPose2D(), and mrpt::math::project2D().

◆ project2D() [7/8]

template<class T , class CPOSE2D >

void mrpt::math::project2D	(	const T &	obj,
		const TLine2D &	newXLine,
		const TPoint2D &	newOrigin,
		T &	newObj
	)

Projects any 2D object into the line's base, using its inverse pose and forcing the position of the new coordinate origin.

If the object is exactly inside the line, this projection will zero its Y coordinate.

Template Parameters

CPOSE2D set to mrpt::poses::CPose2D

Definition at line 334 of file geometry.h.

References mrpt::math::TLine2D::getAsPose2DForcingOrigin().

◆ project2D() [8/8]

template<class T >

void mrpt::math::project2D	(	const std::vector< T > &	objs,
		const mrpt::poses::CPose2D &	newXpose,
		std::vector< T > &	newObjs
	)

Projects a set of 2D objects into the line's base.

Definition at line 341 of file geometry.h.

◆ project3D() [1/9]

void mrpt::math::project3D	(	const TPoint3D &	point,
		const mrpt::poses::CPose3D &	newXYpose,
		TPoint3D &	newPoint
	)

inline

Uses the given pose 3D to project a point into a new base.

Definition at line 272 of file geometry.h.

Referenced by mrpt::math::TPolygon3D::contains(), mrpt::math::TPolygon3D::distance(), mrpt::math::getAngleBisector(), mrpt::math::intersect(), intersect(), intersectInCommonPlane(), FUnprojectPolygon2D::operator()(), mrpt::math::project3D(), and mrpt::math::splitInConvexComponents().

◆ project3D() [2/9]

void mrpt::math::project3D	(	const TSegment3D &	segment,
		const mrpt::poses::CPose3D &	newXYpose,
		TSegment3D &	newSegment
	)

inline

Uses the given pose 3D to project a segment into a new base.

Definition at line 276 of file geometry.h.

References mrpt::poses::CPose3D::composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ project3D() [3/9]

void mrpt::math::project3D	(	const TLine3D &	line,
		const mrpt::poses::CPose3D &	newXYpose,
		TLine3D &	newLine
	)

Uses the given pose 3D to project a line into a new base.

Definition at line 885 of file geometry.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::math::TLine3D::director, mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::math::TLine3D::pBase, mrpt::math::TLine3D::unitarize(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ project3D() [4/9]

void mrpt::math::project3D	(	const TPlane &	plane,
		const mrpt::poses::CPose3D &	newXYpose,
		TPlane &	newPlane
	)

Uses the given pose 3D to project a plane into a new base.

Definition at line 895 of file geometry.cpp.

References mrpt::math::TPlane::coefs, mrpt::math::TPlane::evaluatePoint(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), and mrpt::math::TPlane::unitarize().

◆ project3D() [5/9]

void mrpt::math::project3D	(	const TPolygon3D &	polygon,
		const mrpt::poses::CPose3D &	newXYpose,
		TPolygon3D &	newPolygon
	)

Uses the given pose 3D to project a polygon into a new base.

Definition at line 908 of file geometry.cpp.

References mrpt::math::project3D().

◆ project3D() [6/9]

void mrpt::math::project3D	(	const TObject3D &	object,
		const mrpt::poses::CPose3D &	newXYPose,
		TObject3D &	newObject
	)

Uses the given pose 3D to project any 3D object into a new base.

Definition at line 914 of file geometry.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_PLANE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, mrpt::math::project3D(), and mrpt::math::TObject3D.

◆ project3D() [7/9]

template<class T >

void mrpt::math::project3D	(	const T &	obj,
		const TPlane &	newXYPlane,
		T &	newObj
	)

Projects any 3D object into the plane's base, using its inverse pose.

If the object is exactly inside the plane, this projection will zero its Z coordinates

Definition at line 287 of file geometry.h.

◆ project3D() [8/9]

template<class T >

void mrpt::math::project3D	(	const T &	obj,
		const TPlane &	newXYPlane,
		const TPoint3D &	newOrigin,
		T &	newObj
	)

Projects any 3D object into the plane's base, using its inverse pose and forcing the position of the new coordinates origin.

If the object is exactly inside the plane, this projection will zero its Z coordinates

Definition at line 294 of file geometry.h.

◆ project3D() [9/9]

template<class T >

void mrpt::math::project3D	(	const std::vector< T > &	objs,
		const mrpt::poses::CPose3D &	newXYpose,
		std::vector< T > &	newObjs
	)

Projects a set of 3D objects into the plane's base.

Definition at line 302 of file geometry.h.

◆ RectanglesIntersection()

bool mrpt::math::RectanglesIntersection	(	const double &	R1_x_min,
		const double &	R1_x_max,
		const double &	R1_y_min,
		const double &	R1_y_max,
		const double &	R2_x_min,
		const double &	R2_x_max,
		const double &	R2_y_min,
		const double &	R2_y_max,
		const double &	R2_pose_x,
		const double &	R2_pose_y,
		const double &	R2_pose_phi
	)

Returns whether two rotated rectangles intersect.

The first rectangle is not rotated and given by (R1_x_min,R1_x_max)-(R1_y_min,R1_y_max). The second rectangle is given is a similar way, but it is internally rotated according to the given coordinates translation (R2_pose_x,R2_pose_y,R2_pose_phi(radians)), relative to the coordinates system of rectangle 1.

Definition at line 374 of file geometry.cpp.

References mrpt::math::CPolygon::AddVertex(), mrpt::math::CPolygon::PointIntoPolygon(), and mrpt::math::SegmentsIntersection().

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes().

◆ SegmentsIntersection() [1/2]

bool mrpt::math::SegmentsIntersection	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2,
		const double	x3,
		const double	y3,
		const double	x4,
		const double	y4,
		double &	ix,
		double &	iy
	)

Returns the intersection point, and if it exists, between two segments.

Definition at line 133 of file geometry.cpp.

Referenced by mrpt::math::RectanglesIntersection(), and mrpt::math::SegmentsIntersection().

◆ SegmentsIntersection() [2/2]

bool mrpt::math::SegmentsIntersection	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2,
		const double	x3,
		const double	y3,
		const double	x4,
		const double	y4,
		float &	ix,
		float &	iy
	)

Returns the intersection point, and if it exists, between two segments.

Definition at line 228 of file geometry.cpp.

References mrpt::math::SegmentsIntersection().

◆ setEpsilon()

void mrpt::math::setEpsilon ( double nE )

inline

Changes the value of the geometric epsilon.

See also: geometryEpsilon,getEpsilon

Definition at line 550 of file geometry.h.

◆ skew_symmetric3() [1/2]

template<class VECTOR , class MATRIX >

void mrpt::math::skew_symmetric3	(	const VECTOR &	v,
		MATRIX &	M
	)

inline

Computes the 3x3 skew symmetric matrix from a 3-vector or 3-array:

$M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{array} \right)$

.

Definition at line 657 of file geometry.h.

Referenced by mrpt::poses::CPose3DRotVec::composeFrom(), mrpt::poses::dVinvt_dR(), mrpt::poses::CPose3D::ln_jacob(), and TEST().

◆ skew_symmetric3() [2/2]

template<class VECTOR >

mrpt::math::CMatrixDouble33 mrpt::math::skew_symmetric3 ( const VECTOR & v )

inline

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 666 of file geometry.h.

References ASSERT_.

◆ skew_symmetric3_neg() [1/2]

template<class VECTOR , class MATRIX >

void mrpt::math::skew_symmetric3_neg	(	const VECTOR &	v,
		MATRIX &	M
	)

inline

Computes the negative version of a 3x3 skew symmetric matrix from a 3-vector or 3-array:

$-M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & z & -y \\ -z & 0 & x \\ y & -x & 0 \end{array} \right)$

.

Definition at line 682 of file geometry.h.

Referenced by mrpt::poses::CPose3DRotVec::composeFrom(), jacob_dA_eps_D_p_deps(), mrpt::poses::CPose3D::jacob_dAexpeD_de(), jacob_deps_D_p_deps(), mrpt::poses::CPose3D::jacob_dexpeD_de(), and mrpt::math::vectorsAreParallel2D().

◆ skew_symmetric3_neg() [2/2]

template<class VECTOR >

mrpt::math::CMatrixDouble33 mrpt::math::skew_symmetric3_neg ( const VECTOR & v )

inline

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 691 of file geometry.h.

References ASSERT_.

◆ slerp() [1/3]

template<typename T >

void mrpt::math::slerp	(	const CQuaternion< T > &	q0,
		const CQuaternion< T > &	q1,
		const double	t,
		CQuaternion< T > &	q
	)

SLERP interpolation between two quaternions.

Parameters

[in]	q0	The quaternion for t=0
[in]	q1	The quaternion for t=1
[in]	t	A "time" parameter, in the range [0,1].
[out]	q	The output, interpolated quaternion.

Template Parameters

T	The type of the quaternion (e.g. float, double).

Exceptions

std::exception Only in Debug, if t is not in the valid range.

See also: http://en.wikipedia.org/wiki/Slerp

Definition at line 35 of file slerp.h.

References ASSERTDEB_, and mrpt::math::square().

Referenced by mrpt::math::slerp(), mrpt::math::slerp_ypr(), and TEST().

◆ slerp() [2/3]

void mrpt::mrpt::math::slerp	(	const mrpt::poses::CPose3D &	q0,
		const mrpt::poses::CPose3D &	q1,
		const double	t,
		mrpt::poses::CPose3D &	p
	)

SLERP interpolation between two 6D poses - like mrpt::math::slerp for quaternions, but interpolates the [X,Y,Z] coordinates as well.

Parameters

[in]	p0	The pose for t=0
[in]	p1	The pose for t=1
[in]	t	A "time" parameter, in the range [0,1].
[out]	p	The output, interpolated pose.

Exceptions

std::exception Only in Debug, if t is not in the valid range.

Definition at line 21 of file slerp.cpp.

References mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::slerp(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ slerp() [3/3]

void mrpt::mrpt::math::slerp	(	const mrpt::poses::CPose3DQuat &	q0,
		const mrpt::poses::CPose3DQuat &	q1,
		const double	t,
		mrpt::poses::CPose3DQuat &	p
	)

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 40 of file slerp.cpp.

References mrpt::poses::CPose3DQuat::quat(), mrpt::math::slerp(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ slerp_ypr()

void mrpt::mrpt::math::slerp_ypr	(	const mrpt::math::TPose3D &	q0,
		const mrpt::math::TPose3D &	q1,
		const double	t,
		mrpt::math::TPose3D &	p
	)

Definition at line 54 of file slerp.cpp.

References mrpt::math::TPose3D::getAsQuaternion(), mrpt::math::slerp(), and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), and TEST().

◆ splitInConvexComponents() [1/2]

bool mrpt::math::splitInConvexComponents	(	const TPolygon2D &	poly,
		std::vector< TPolygon2D > &	components
	)

Splits a 2D polygon into convex components.

Definition at line 1854 of file geometry.cpp.

References cross(), mrpt::math::distance(), mrpt::math::geometryEpsilon, mrpt::math::intersect(), mrpt::math::TPolygon2D::removeRedundantVertices(), TSegmentWithLine::segment, and mrpt::utils::sign().

Referenced by generatePolygon(), mrpt::opengl::CPolyhedron::makeConvexPolygons(), and mrpt::math::splitInConvexComponents().

◆ splitInConvexComponents() [2/2]

bool mrpt::math::splitInConvexComponents	(	const TPolygon3D &	poly,
		std::vector< TPolygon3D > &	components
	)

Splits a 3D polygon into convex components.

Exceptions

std::logic_error if the polygon can't be fit into a plane.

Definition at line 1912 of file geometry.cpp.

References mrpt::math::TPolygon3D::getPlane(), mrpt::math::project3D(), and mrpt::math::splitInConvexComponents().

◆ traceRay() [1/2]

bool mrpt::math::traceRay	(	const std::vector< TPolygonWithPlane > &	vec,
		const mrpt::poses::CPose3D &	pose,
		double &	dist
	)

Fast ray tracing method using polygons' properties.

See also: CRenderizable::rayTrace

Definition at line 1989 of file geometry.cpp.

References mrpt::math::createFromPoseX(), mrpt::math::intersect(), and mrpt::math::TLine3D::unitarize().

Referenced by mrpt::opengl::CTexturedPlane::traceRay(), mrpt::opengl::CGeneralizedCylinder::traceRay(), mrpt::opengl::CSetOfTriangles::traceRay(), mrpt::opengl::CMesh::traceRay(), and mrpt::opengl::CPolyhedron::traceRay().

◆ traceRay() [2/2]

bool mrpt::math::traceRay	(	const std::vector< TPolygon3D > &	vec,
		const mrpt::poses::CPose3D &	pose,
		double &	dist
	)

inline

Fast ray tracing method using polygons' properties.

See also: CRenderizable::rayTrace

Definition at line 598 of file geometry.h.

◆ vectorsAreParallel2D()

template<class T , class U >

bool mrpt::math::vectorsAreParallel2D	(	const T &	v1,
		const U &	v2
	)

inline

Returns true if two 2D vectors are parallel.

The arguments may be points, arrays, etc.

Definition at line 701 of file geometry.h.

References mrpt::math::skew_symmetric3_neg(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ vectorsAreParallel3D()

template<class T , class U >

bool mrpt::math::vectorsAreParallel3D	(	const T &	v1,
		const U &	v2
	)

inline

Returns true if two 3D vectors are parallel.

The arguments may be points, arrays, etc.

Definition at line 709 of file geometry.h.

References mrpt::math::geometryEpsilon.

Variable Documentation

◆ GEOMETRIC_TYPE_LINE

const unsigned char mrpt::math::GEOMETRIC_TYPE_LINE =2

Object type identifier for TLine2D or TLine3D.

See also: TObject2D,TObject3D

Definition at line 1087 of file lightweight_geom_data.h.

Referenced by fromObject(), mrpt::math::TObject3D::generate2DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TObject2D::isLine(), mrpt::math::TObject3D::isLine(), mrpt::math::operator<<(), mrpt::math::TObject2D::operator=(), mrpt::math::TObject3D::operator=(), mrpt::math::operator>>(), mrpt::math::project2D(), and mrpt::math::project3D().

◆ GEOMETRIC_TYPE_PLANE

const unsigned char mrpt::math::GEOMETRIC_TYPE_PLANE =4

Object type identifier for TPlane.

See also: TObject3D

Definition at line 1097 of file lightweight_geom_data.h.

Referenced by mrpt::math::TObject3D::generate2DObject(), mrpt::math::TObject3D::isPlane(), mrpt::math::operator<<(), mrpt::math::TObject3D::operator=(), mrpt::math::operator>>(), and mrpt::math::project3D().

◆ GEOMETRIC_TYPE_POINT

const unsigned char mrpt::math::GEOMETRIC_TYPE_POINT =0

Object type identifier for TPoint2D or TPoint3D.

See also: TObject2D,TObject3D

Definition at line 1077 of file lightweight_geom_data.h.

Referenced by fromObject(), mrpt::math::TObject3D::generate2DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TObject2D::isPoint(), mrpt::math::TObject3D::isPoint(), mrpt::math::operator<<(), mrpt::math::TObject2D::operator=(), mrpt::math::TObject3D::operator=(), mrpt::math::operator>>(), mrpt::math::project2D(), mrpt::math::project3D(), and TEST().

◆ GEOMETRIC_TYPE_POLYGON

const unsigned char mrpt::math::GEOMETRIC_TYPE_POLYGON =3

Object type identifier for TPolygon2D or TPolygon3D.

See also: TObject2D,TObject3D

Definition at line 1092 of file lightweight_geom_data.h.

Referenced by mrpt::math::TObject2D::destroy(), mrpt::math::TObject3D::destroy(), fromObject(), mrpt::math::TObject3D::generate2DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TObject2D::isPolygon(), mrpt::math::TObject3D::isPolygon(), mrpt::math::operator<<(), mrpt::math::TObject2D::operator=(), mrpt::math::TObject3D::operator=(), mrpt::math::operator>>(), mrpt::math::project2D(), and mrpt::math::project3D().

◆ GEOMETRIC_TYPE_SEGMENT

const unsigned char mrpt::math::GEOMETRIC_TYPE_SEGMENT =1

Object type identifier for TSegment2D or TSegment3D.

See also: TObject2D,TObject3D

Definition at line 1082 of file lightweight_geom_data.h.

Referenced by fromObject(), mrpt::math::TObject3D::generate2DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TObject2D::isSegment(), mrpt::math::TObject3D::isSegment(), mrpt::math::operator<<(), mrpt::math::TObject2D::operator=(), mrpt::math::TObject3D::operator=(), mrpt::math::operator>>(), mrpt::math::project2D(), mrpt::math::project3D(), and TEST().

◆ GEOMETRIC_TYPE_UNDEFINED

const unsigned char mrpt::math::GEOMETRIC_TYPE_UNDEFINED =255

Object type identifier for empty TObject2D or TObject3D.

See also: TObject2D,TObject3D

Definition at line 1102 of file lightweight_geom_data.h.

Referenced by mrpt::math::TObject2D::destroy(), mrpt::math::TObject3D::destroy(), mrpt::math::TObject3D::operator=(), and mrpt::math::operator>>().

◆ geometryEpsilon

double mrpt::mrpt::math::geometryEpsilon =1e-5

Global epsilon to overcome small precision errors (Default=1e-5)

Definition at line 28 of file geometry.cpp.

Referenced by mrpt::math::areAligned(), mrpt::math::assemblePolygons(), mrpt::math::conformAPlane(), mrpt::math::TSegment2D::contains(), mrpt::math::TSegment3D::contains(), mrpt::math::TLine2D::contains(), mrpt::math::TLine3D::contains(), mrpt::math::TPlane::contains(), mrpt::math::TPolygon3D::contains(), mrpt::math::TPolygon2D::createRegularPolygon(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::math::distance(), mrpt::math::TPlane::distance(), mrpt::math::generateAxisBaseFromDirectionAndAxis(), mrpt::math::getAngle(), mrpt::math::getAngleBisector(), mrpt::math::TLine2D::getAsPose2D(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::getEpsilon(), getHeight(), mrpt::math::getRegressionPlane(), mrpt::math::intersect(), intersect(), intersectInCommonLine(), mrpt::math::TPolygon2D::isConvex(), mrpt::math::removeRepVertices(), mrpt::math::removeUnusedVertices(), solveEqn(), mrpt::math::splitInConvexComponents(), mrpt::math::TLine2D::TLine2D(), mrpt::math::TLine3D::TLine3D(), mrpt::math::TPlane::TPlane(), mrpt::opengl::CCylinder::traceRay(), and mrpt::math::vectorsAreParallel3D().

◆ TLine3D

struct BASE_IMPEXP mrpt::math::TLine3D

Definition at line 586 of file lightweight_geom_data.h.

Referenced by mrpt::math::areAligned(), mrpt::math::TSegment3D::distance(), mrpt::math::TLine2D::generate3DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::getAngleBisector(), and mrpt::math::intersect().

◆ TObject3D

struct BASE_IMPEXP mrpt::math::TObject3D

Definition at line 588 of file lightweight_geom_data.h.

Referenced by mrpt::math::TObject2D::generate3DObject(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::math::operator>>(), and mrpt::math::project3D().

◆ TPolygon3D

class BASE_IMPEXP mrpt::math::TPolygon3D

Definition at line 587 of file lightweight_geom_data.h.

Referenced by mrpt::math::TPolygon2D::generate3DObject(), mrpt::math::TObject2D::generate3DObject(), FCreatePolygonFromFace< T >::operator()(), FUnprojectPolygon2D::operator()(), mrpt::math::TObject3D::operator=(), and mrpt::math::TObject3D::TObject3D().

◆ TSegment3D

struct BASE_IMPEXP mrpt::math::TSegment3D

Definition at line 585 of file lightweight_geom_data.h.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewRegions(), mrpt::math::TSegment2D::generate3DObject(), mrpt::math::TObject2D::generate3DObject(), mrpt::math::TPolygon3D::getAsSegmentList(), intersect(), intersectAux(), and intersectInCommonLine().

Detailed Description

Classes

Typedefs

Functions

Variables

Simple intersection operations, relying basically on geometrical operations.

Angle retrieval methods. Methods which use TSegments will automatically use TLines' implicit constructors.

Creation of lines from poses.

Other line or plane related methods.

Projections

Polygon intersections. These operations rely more on spatial reasoning than in raw numerical operations.

Other intersections

Distances

Bound checkers

Creation of planes from poses

Linear regression methods

Miscellaneous Geometry methods

SLERP (Spherical Linear Interpolation) functions

Typedef Documentation

◆ TPlane3D

Function Documentation

◆ areAligned() [1/4]

◆ areAligned() [2/4]

◆ areAligned() [3/4]

◆ areAligned() [4/4]

◆ assemblePolygons() [1/5]

◆ assemblePolygons() [2/5]

◆ assemblePolygons() [3/5]

◆ assemblePolygons() [4/5]

◆ assemblePolygons() [5/5]

◆ closestFromPointToLine()

◆ closestFromPointToSegment()

◆ closestSquareDistanceFromPointToLine()

◆ conformAPlane() [1/2]

◆ conformAPlane() [2/2]

◆ createFromPoseAndVector() [1/2]

◆ createFromPoseAndVector() [2/2]

◆ createFromPoseX() [1/2]

◆ createFromPoseX() [2/2]

◆ createFromPoseY() [1/2]

◆ createFromPoseY() [2/2]

◆ createFromPoseZ()

◆ createPlaneFromPoseAndNormal()

◆ createPlaneFromPoseXY()

◆ createPlaneFromPoseXZ()

◆ createPlaneFromPoseYZ()

◆ crossProduct3D() [1/3]

◆ crossProduct3D() [2/3]

◆ crossProduct3D() [3/3]

◆ distance() [1/17]

◆ distance() [2/17]

◆ distance() [3/17]

◆ distance() [4/17]

◆ distance() [5/17]

◆ distance() [6/17]

◆ distance() [7/17]

◆ distance() [8/17]

◆ distance() [9/17]

◆ distance() [10/17]

◆ distance() [11/17]

◆ distance() [12/17]

◆ distance() [13/17]

◆ distance() [14/17]

◆ distance() [15/17]

◆ distance() [16/17]

◆ distance() [17/17]

◆ distanceBetweenPoints() [1/2]

◆ distanceBetweenPoints() [2/2]

◆ distancePointToPolygon2D()

◆ distanceSqrBetweenPoints() [1/2]

◆ distanceSqrBetweenPoints() [2/2]

◆ generateAxisBaseFromDirection()

◆ generateAxisBaseFromDirectionAndAxis()

◆ getAngle() [1/5]

◆ getAngle() [2/5]

◆ getAngle() [3/5]

◆ getAngle() [4/5]

◆ getAngle() [5/5]

◆ getAngleBisector() [1/2]

◆ getAngleBisector() [2/2]