CircleModel Class Reference

a model of a circle, represented as a normal, a center and a radius More...

#include <CircleModel.hpp>

Public Member Functions
	CircleModel ()
	constructor
	CircleModel (const rw::math::Vector3D<> &c, const rw::math::Vector3D<> &n, double radi)
	contructor More...
	CircleModel (rw::math::Vector3D<> &p1, rw::math::Vector3D<> &p2, rw::math::Vector3D<> &p3)
	constructor from 3 unique points on circle More...
void	refit (const std::vector< rw::math::Vector3D<>> &points)
	refit the circle from a number of points. Use a least square fit. More...
bool	isClose (const CircleModel &circ, double epsilon) const
	tests if two circles are "equal" which is within some epsilon of each other More...
bool	isClose (const rw::math::Vector3D<> &p, double epsilon) const
	tests if a point is within a distance epsilon of this circle. More...

Static Public Member Functions
static CircleModel	fitTo (const std::vector< rw::math::Vector3D<>> &points)
	create a circle from a number of points. Use a least square fit. More...

Public Attributes
rw::math::Vector3D	_center
rw::math::Vector3D	_n
double	_r

Friends
std::ostream &	operator<< (std::ostream &os, const CircleModel &model)
	Ouputs CircleModel to stream. More...

Detailed Description

a model of a circle, represented as a normal, a center and a radius

Constructor & Destructor Documentation

CircleModel() [1/2]

CircleModel	(	const rw::math::Vector3D<> &	c,
		const rw::math::Vector3D<> &	n,
		double	radi
	)

contructor

Parameters

c	[in] center
n	[in] normal
radi	[in] radius

Returns

CircleModel() [2/2]

CircleModel	(	rw::math::Vector3D<> &	p1,
		rw::math::Vector3D<> &	p2,
		rw::math::Vector3D<> &	p3
	)

constructor from 3 unique points on circle

Parameters

p1	[in] point on circle
p2	[in] point on circle
p3	[in] point on circle

Member Function Documentation

fitTo()

static CircleModel fitTo ( const std::vector< rw::math::Vector3D<>> &  points )

static

create a circle from a number of points. Use a least square fit.

Parameters

points

[in] the vector of points that the circle is fitted to

isClose() [1/2]

bool isClose	(	const CircleModel &	circ,
		double	epsilon
	)		const

tests if two circles are "equal" which is within some epsilon of each other

Parameters

circ	[in] the other circle
epsilon	[in] how close they need to be.

Returns

isClose() [2/2]

bool isClose	(	const rw::math::Vector3D<> &	p,
		double	epsilon
	)		const

tests if a point is within a distance epsilon of this circle.

Parameters

p	[in] point in 3D
epsilon	[in] max distance that p can be from this circle.

Returns

true if p is within epsilon of this circle

refit()

void refit

(

const std::vector< rw::math::Vector3D<>> &

points

)

refit the circle from a number of points. Use a least square fit.

Parameters

points

[in] the vector of points that the circle is fitted to

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const CircleModel &  model  )

friend

Ouputs CircleModel to stream.

Parameters

os	[in/out] stream to use
model	[in] a CircleModel

Returns

the resulting stream

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

• CircleModel.hpp