gtsam::SimWall2D Class Reference

#include <SimWall2D.h>

Public Member Functions
Point2	a () const
Point2	b () const
bool	equals (const SimWall2D &other, double tol=1e-9) const
bool	intersects (const SimWall2D &wall, boost::optional< Point2 & > pt=boost::none) const
double	length () const
Point2	midpoint () const
Point2	norm () const
void	print (const std::string &s="") const
Rot2	reflection (const Point2 &init, const Point2 &intersection) const
SimWall2D	scale (double s) const
	SimWall2D ()
	SimWall2D (const Point2 &a, const Point2 &b)
	SimWall2D (double ax, double ay, double bx, double by)

Protected Attributes
Point2	a_
Point2	b_

Detailed Description

General Wall class for walls defined around unordered endpoints Primarily to handle ray intersections

Definition at line 19 of file SimWall2D.h.

Constructor & Destructor Documentation

gtsam::SimWall2D::SimWall2D ( )

inline

default constructor makes canonical wall

Definition at line 25 of file SimWall2D.h.

gtsam::SimWall2D::SimWall2D ( const Point2 &  a, const Point2 &  b  )

inline

constructors using endpoints

Definition at line 28 of file SimWall2D.h.

gtsam::SimWall2D::SimWall2D ( double  ax, double  ay, double  bx, double  by  )

inline

Definition at line 31 of file SimWall2D.h.

Member Function Documentation

Point2 gtsam::SimWall2D::a ( ) const

inline

access

Definition at line 39 of file SimWall2D.h.

Point2 gtsam::SimWall2D::b ( ) const

inline

Definition at line 40 of file SimWall2D.h.

bool gtsam::SimWall2D::equals	(	const SimWall2D &	other,
		double	tol = 1e-9
	)		const

Definition at line 22 of file SimWall2D.cpp.

bool gtsam::SimWall2D::intersects	(	const SimWall2D &	wall,
		boost::optional< Point2 & >	pt = boost::none
	)		const

intersection check between two segments returns true if they intersect, with the intersection point in the optional second argument

Definition at line 28 of file SimWall2D.cpp.

double gtsam::SimWall2D::length ( ) const

inline

geometry

Definition at line 46 of file SimWall2D.h.

Point2 gtsam::SimWall2D::midpoint

(

)

const

Definition at line 103 of file SimWall2D.cpp.

Point2 gtsam::SimWall2D::norm

(

)

const

norm is a 2D point representing the norm of the wall

Definition at line 109 of file SimWall2D.cpp.

void gtsam::SimWall2D::print

(

const std::string &

s = ""

)

const

required by testable

Definition at line 15 of file SimWall2D.cpp.

Rot2 gtsam::SimWall2D::reflection	(	const Point2 &	init,
		const Point2 &	intersection
	)		const

reflection around a point of impact with a wall from a starting (init) point at a given impact point (intersection), returning the angle away from the impact

Definition at line 115 of file SimWall2D.cpp.

SimWall2D gtsam::SimWall2D::scale ( double  s ) const

inline

scales a wall to produce a new wall

Definition at line 43 of file SimWall2D.h.

Member Data Documentation

Point2 gtsam::SimWall2D::a_

protected

Definition at line 21 of file SimWall2D.h.

Point2 gtsam::SimWall2D::b_

protected

Definition at line 21 of file SimWall2D.h.

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

• SimWall2D.h
• SimWall2D.cpp