A line in 3D, described by a two points. More...

#include <Line.hpp>

Inherited by Ray.

Public Types
typedef rw::core::Ptr< Line >	Ptr
	Smart pointer to Line.

typedef double	value_type
	Type of internal values.

Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.

Public Types inherited from GeometryData
enum	GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType }
	geometry data types

typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	Line ()
	Constructor. More...

	Line (const rw::math::Q &params)
	Constructor. More...

	Line (const rw::math::Vector3D< double > &p1, const rw::math::Vector3D< double > &p2)
	Constructor. More...

virtual	~Line ()
	destructor

rw::math::Vector3D< double > &	p1 ()
	Get point 1.

const rw::math::Vector3D< double > &	p1 () const
	Get point 1.

rw::math::Vector3D< double > &	p2 ()
	Get point 2.

const rw::math::Vector3D< double > &	p2 () const
	Get point 2.

rw::math::Vector3D< double >	dir () const
	Get a direction vector u = normalize(p2 - p1).

double	distance (const rw::math::Vector3D< double > &point) const
	Calculates the shortest distance from a point to the line. More...

double	distance (const Line &line) const
	Calculates the shortest distance to another line. More...

rw::math::Vector3D< double >	closestPoint (const rw::math::Vector3D< double > &point) const
	Finds a point on the line closest to specified point. More...

double	refit (const std::vector< rw::math::Vector3D< double >> &data)
	Fit this line to a set of points. More...

double	refit (const std::vector< rw::math::Vector3D< double >>::const_iterator begin, const std::vector< rw::math::Vector3D< double >>::const_iterator end)

TriMesh::Ptr	createMesh (int resolution) const
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...

virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...

virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...

GeometryType	getType () const
	the type of this primitive More...

Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor

TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...

virtual bool	isConvex ()
	test if this geometry data is convex More...

bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive

Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Static Public Member Functions
static std::vector< Line >	makeGrid (int dim_x, int dim_y, double size_x=1.0, double size_y=1.0, const rw::math::Vector3D< double > &xdir=rw::math::Vector3D< double >::x(), const rw::math::Vector3D< double > &ydir=rw::math::Vector3D< double >::y())
	Create set of lines making a grid.

static rw::math::Metric< Line >::Ptr	makeMetric (double angToDistWeight=1.0)
	create a metric that can be used to compare the difference between two lines. The distance between two lines is computed as follows: More...

Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Friends
std::ostream &	operator<< (std::ostream &out, const Line &line)
	Streaming operator.

Additional Inherited Members
Protected Member Functions inherited from Primitive
virtual bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...

	Primitive (int levels=20)
	Constructor. More...

Detailed Description

A line in 3D, described by a two points.

Constructor & Destructor Documentation

◆ Line() [1/3]

Line ( )

Constructor.

Default constructor returns line segment from {0, 0, 0} to {0, 0, 1}.

◆ Line() [2/3]

Line ( const rw::math::Q & params )

Constructor.

Parameters

params [in] must be 6 long and contain 2 points lying on the line

◆ Line() [3/3]

Line	(	const rw::math::Vector3D< double > &	p1,
		const rw::math::Vector3D< double > &	p2
	)

Constructor.

Parameters

p1	[in] point 1.
p2	[in] point 2.

Member Function Documentation

◆ closestPoint()

rw::math::Vector3D<double> closestPoint ( const rw::math::Vector3D< double > & point ) const

Finds a point on the line closest to specified point.

For the purposes of this calculation, the line is treated as infinitely extending geometric entity, without begining nor end.

◆ createMesh()

TriMesh::Ptr createMesh ( int resolution ) const

inlinevirtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution [in]

Implements Primitive.

Reimplemented in Ray.

◆ distance() [1/2]

double distance ( const Line & line ) const

Calculates the shortest distance to another line.

For the purposes of this calculation, the lines are treated as infinitely extending geometric entity, without begining nor end.

◆ distance() [2/2]

double distance ( const rw::math::Vector3D< double > & point ) const

Calculates the shortest distance from a point to the line.

For the purposes of this calculation, the line is treated as infinitely extending geometric entity, without begining nor end.

◆ getParameters()

virtual rw::math::Q getParameters ( ) const

inlinevirtual

get the parameters that define this primitive

Implements Primitive.

Reimplemented in Ray.

◆ getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

Reimplemented in Ray.

◆ makeMetric()

static rw::math::Metric<Line>::Ptr makeMetric ( double angToDistWeight = 1.0 )

static

create a metric that can be used to compare the difference between two lines. The distance between two lines is computed as follows:

val = 0.5*angle(l1.dir, l2.dir)*angToDistWeight + 0.5*l1.distance(l2)

Returns: distance metric

◆ refit() [1/2]

double refit ( const std::vector< rw::math::Vector3D< double >> & data )

Fit this line to a set of points.

Uses centroid calculation and SVD analysis to determine the parameters of the line. p1 is the point on the line closest to origin {0, 0, 0}, and p2 is chosen so as (p2 - p1) is an unit vector. Error is the sum of point distances to the line squared.

Parameters

data	[in] a set of points

Returns: sum of the squares of point distances to the line

◆ refit() [2/2]

double refit	(	const std::vector< rw::math::Vector3D< double >>::const_iterator	begin,
		const std::vector< rw::math::Vector3D< double >>::const_iterator	end
	)

This version of refit makes it possible to fit only a subset of the points in a vector.

Parameters

begin	[in] iterator to first element.
end	[in] iterator to last element.

Returns: sum of the squares of point distances to the line.

See also: refit(const std::vector<rw::math::Vector3D<double> >&)

◆ setParameters()

virtual void setParameters ( const rw::math::Q & q )

virtual

set the parameters that define this primitive

Implements Primitive.

The documentation for this class was generated from the following file:

Line.hpp

Public Types

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Line() [1/3]

◆ Line() [2/3]

◆ Line() [3/3]

Member Function Documentation

◆ closestPoint()

◆ createMesh()

◆ distance() [1/2]

◆ distance() [2/2]

◆ getParameters()

◆ getType()

◆ makeMetric()

◆ refit() [1/2]

◆ refit() [2/2]

◆ setParameters()