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.

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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.