line.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_LINE_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_LINE_H_
00038 
00039 #include <Eigen/Geometry>
00040 #include <boost/shared_ptr.hpp>
00041 #include "jsk_recognition_utils/types.h"
00042 
00043 namespace jsk_recognition_utils
00044 {
00049   class Line
00050   {
00051   public:
00052     typedef boost::shared_ptr<Line> Ptr;
00053     
00061     Line(const Eigen::Vector3f& direction, const Eigen::Vector3f& origin);
00062 
00067     virtual void getDirection(Eigen::Vector3f& output) const;
00068 
00073     virtual Eigen::Vector3f getDirection() const;
00074 
00079     virtual void getOrigin(Eigen::Vector3f& output) const;
00080 
00085     virtual Eigen::Vector3f getOrigin() const;
00086 
00091     virtual double distanceToPoint(const Eigen::Vector3f& from) const;
00092 
00097     virtual double distanceToPoint(const Eigen::Vector3f& from,
00098                                    Eigen::Vector3f& foot) const;
00099 
00104     virtual double distance(const Line& other) const;
00105 
00110     virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;
00111 
00116     virtual double angle(const Line& other) const;
00117 
00123     virtual bool isParallel(const Line& other, double angle_threshold = 0.1) const;
00124     
00130     virtual bool isPerpendicular(const Line& other, double angle_threshold = 0.1) const;
00131 
00136     virtual Ptr midLine(const Line& other) const;
00137 
00143     virtual Ptr parallelLineOnAPoint(const Eigen::Vector3f& p) const;
00144 
00149     virtual PointPair findEndPoints(const Vertices& points) const;
00150 
00158     virtual double computeAlpha(const Point& p) const;
00159 
00164     virtual bool isSameDirection(const Line& other) const;
00165 
00170     virtual Line::Ptr flip();
00171 
00176     virtual void parallelLineNormal(const Line& other, Eigen::Vector3f& output) const;
00177 
00182     static Ptr fromCoefficients(const std::vector<float>& coefficients);
00183 
00188     virtual void print();
00189     
00194     virtual void point(double alpha, Eigen::Vector3f& ouptut);
00195   protected:
00196     Eigen::Vector3f direction_;
00197     Eigen::Vector3f origin_;
00198   private:
00199   };
00200 
00201 }
00202 
00203 #endif


jsk_recognition_utils
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autogenerated on Tue Jul 2 2019 19:40:37