swri_geometry_util Namespace Reference

Classes
class	Polygon
struct	PolygonD
struct	Vertex
Functions
bool	ClosestPointToLines (const tf::Vector3 &a1, const tf::Vector3 &a2, const tf::Vector3 &b1, const tf::Vector3 &b2, tf::Vector3 &point)
bool	CubicSplineInterpolation (const std::vector< cv::Vec2d > &points, double delta, std::vector< std::vector< cv::Vec2d > > &splines)
bool	CubicSplineInterpolation (const std::vector< tf::Vector3 > &points, double delta, std::vector< std::vector< tf::Vector3 > > &splines)
double	DistanceFromLineSegment (const tf::Vector3 &line_start, const tf::Vector3 &line_end, const tf::Vector3 &point)
double	DistanceFromPlane (const tf::Vector3 &plane_normal, const tf::Vector3 &plane_point, const tf::Vector3 &point)
bool	LineIntersection (cv::Vec2d p1, cv::Vec2d p2, cv::Vec2d p3, cv::Vec2d p4, cv::Vec2d &c)
double	PolygonIntersectionArea (const std::vector< cv::Vec2d > &a, const std::vector< cv::Vec2d > &b)
bool	PolygonsIntersect (const std::vector< cv::Vec2d > &a, const std::vector< cv::Vec2d > &b)
tf::Vector3	ProjectToLineSegment (const tf::Vector3 &line_start, const tf::Vector3 &line_end, const tf::Vector3 &point)

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Function Documentation

bool swri_geometry_util::ClosestPointToLines	(	const tf::Vector3 &	a1,
		const tf::Vector3 &	a2,
		const tf::Vector3 &	b1,
		const tf::Vector3 &	b2,
		tf::Vector3 &	point
	)

Find closest point to two 3D lines.

Parameters:

[in]	a1	First point on line 1.
[in]	a2	Second point on line 1.
[in]	b1	First point on line 2.
[in]	b2	Second point on line 2.
[out]	point	The closest point to both lines.

Returns:

True unless a1 == a2, b1 == b2, or lines are parallel.

Definition at line 73 of file geometry_util.cpp.

bool swri_geometry_util::CubicSplineInterpolation	(	const std::vector< cv::Vec2d > &	points,
		double	delta,
		std::vector< std::vector< cv::Vec2d > > &	splines
	)

Definition at line 37 of file cubic_spline.cpp.

bool swri_geometry_util::CubicSplineInterpolation	(	const std::vector< tf::Vector3 > &	points,
		double	delta,
		std::vector< std::vector< tf::Vector3 > > &	splines
	)

Definition at line 159 of file cubic_spline.cpp.

double swri_geometry_util::DistanceFromLineSegment	(	const tf::Vector3 &	line_start,
		const tf::Vector3 &	line_end,
		const tf::Vector3 &	point
	)

Definition at line 42 of file geometry_util.cpp.

double swri_geometry_util::DistanceFromPlane	(	const tf::Vector3 &	plane_normal,
		const tf::Vector3 &	plane_point,
		const tf::Vector3 &	point
	)

Calculate the distance from a point to a plane.

Parameters:

[in]	plane_normal	The normal vector of the plane.
[in]	plane_point	A point on the plane.
[in]	point	The point to measure the distance of.

Returns:

The distance of the point from the plane.

Definition at line 34 of file geometry_util.cpp.

bool swri_geometry_util::LineIntersection	(	cv::Vec2d	p1,
		cv::Vec2d	p2,
		cv::Vec2d	p3,
		cv::Vec2d	p4,
		cv::Vec2d &	c
	)

Calculate the instersection between two lines defined by 4 points.

Parameters:

[in]	p1	First point of line segemnt 1.
[in]	p2	Second point of line segemnt 1.
[in]	p3	First point of line segemnt 2.
[in]	p4	Second point of line segemnt 2.
[out]	c	The intersection point.

Returns:

True if the lines are not parallel.

Definition at line 42 of file intersection.cpp.

double swri_geometry_util::PolygonIntersectionArea	(	const std::vector< cv::Vec2d > &	a,
		const std::vector< cv::Vec2d > &	b
	)

Definition at line 101 of file intersection.cpp.

bool swri_geometry_util::PolygonsIntersect	(	const std::vector< cv::Vec2d > &	a,
		const std::vector< cv::Vec2d > &	b
	)

Definition at line 64 of file intersection.cpp.

tf::Vector3 swri_geometry_util::ProjectToLineSegment	(	const tf::Vector3 &	line_start,
		const tf::Vector3 &	line_end,
		const tf::Vector3 &	point
	)

Definition at line 50 of file geometry_util.cpp.