cloud_geometry::intersections Namespace Reference

Functions

bool lineToBoxIntersection (const std::vector< double > &line, const std::vector< double > &cube)
 Bounding box intersection modified from Graphics Gems Vol I. The method returns a non-zero value if the bounding box is hit.
bool lineToCircleIntersection (const std::vector< double > &line, const std::vector< double > &circle)
 Check the intersection between a line segment and a circle.
bool lineWithLineIntersection (const std::vector< double > &line_a, const std::vector< double > &line_b, geometry_msgs::Point32 &point, double sqr_eps)
 Get the intersection of a two 3D lines in space as a 3D point.
bool lineWithPlaneIntersection (const std::vector< double > &plane, const std::vector< double > &line, geometry_msgs::Point32 &point)
 Get the intersection of a plane and a line in 3D space as a point.
bool planeWithCubeIntersection (const std::vector< double > &plane, const std::vector< double > &cube, geometry_msgs::Polygon &polygon)
 Obtain the intersection of a plane with an axis-aligned cube as a (sorted) 2D polygon.
bool planeWithPlaneIntersection (const std::vector< double > &plane_a, const std::vector< double > &plane_b, std::vector< double > &line)
 Get the intersection of two planes in 3D space as a 3D line.

Function Documentation

bool cloud_geometry::intersections::lineToBoxIntersection ( const std::vector< double > &  line,
const std::vector< double > &  cube 
)

Bounding box intersection modified from Graphics Gems Vol I. The method returns a non-zero value if the bounding box is hit.

Parameters:
line the coefficients of the line (point, direction)
cube the 6 bounds of the cube

Definition at line 242 of file intersections.cpp.

bool cloud_geometry::intersections::lineToCircleIntersection ( const std::vector< double > &  line,
const std::vector< double > &  circle 
)

Check the intersection between a line segment and a circle.

Parameters:
line the coefficients of the line (point, direction)
circle the coefficients of the circle (center, radius)

Definition at line 312 of file intersections.cpp.

bool cloud_geometry::intersections::lineWithLineIntersection ( const std::vector< double > &  line_a,
const std::vector< double > &  line_b,
geometry_msgs::Point32 &  point,
double  sqr_eps 
)

Get the intersection of a two 3D lines in space as a 3D point.

Parameters:
line_a the coefficients of the first line (point, direction)
line_b the coefficients of the second line (point, direction)
point holder for the computed 3D point
sqr_eps maximum allowable squared distance to the true solution

Definition at line 127 of file intersections.cpp.

bool cloud_geometry::intersections::lineWithPlaneIntersection ( const std::vector< double > &  plane,
const std::vector< double > &  line,
geometry_msgs::Point32 &  point 
)

Get the intersection of a plane and a line in 3D space as a point.

Note:
if the line is parallel to the plane, point is returned empty
Parameters:
plane the coefficients of the plane (a,b,c,d)
line the coefficients of the line (point, direction)
point holder for the computed 3D point

Definition at line 96 of file intersections.cpp.

bool cloud_geometry::intersections::planeWithCubeIntersection ( const std::vector< double > &  plane,
const std::vector< double > &  cube,
geometry_msgs::Polygon &  polygon 
)

Obtain the intersection of a plane with an axis-aligned cube as a (sorted) 2D polygon.

Parameters:
plane the coefficients of the plane (a,b,c,d)
cube the 6 bounds of the cube
polygon the resulting polygon

Definition at line 154 of file intersections.cpp.

bool cloud_geometry::intersections::planeWithPlaneIntersection ( const std::vector< double > &  plane_a,
const std::vector< double > &  plane_b,
std::vector< double > &  line 
)

Get the intersection of two planes in 3D space as a 3D line.

Note:
if the planes are parallel, the method retunrns false, and line is zero-ed
Parameters:
plane_a the coefficients of the first plane (a,b,c,d)
plane_b the coefficients of the second plane (a,b,c,d)
line holder for the computed line coefficients (point, direction)

Definition at line 52 of file intersections.cpp.

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door_handle_detector
Author(s): Radu Bogdan Rusu, Marius
autogenerated on Fri Jan 11 09:42:07 2013