Class to represent 3-D polyline (not closed). More...

#include <polyline.h>

Inheritance diagram for jsk_recognition_utils::PolyLine:

Public Types
typedef boost::shared_ptr< PolyLine >	Ptr

Public Types inherited from jsk_recognition_utils::Line
typedef boost::shared_ptr< Line >	Ptr

Public Member Functions
virtual Segment::Ptr	at (int index) const

virtual double	distance (const Eigen::Vector3f &point, Eigen::Vector3f &foot_point) const
	compute a distance to a point More...

virtual double	distance (const Eigen::Vector3f &point) const

virtual double	distanceWithInfo (const Eigen::Vector3f &from, Eigen::Vector3f &foot_point, double &distance_to_goal, int &foot_index, double &foot_alpha) const
	compute a distance to a point, get various information More...

virtual PolyLine::Ptr	flipPolyLine () const

virtual void	getDirection (int index, Eigen::Vector3f &output) const
	get normalized direction vector of the line. More...

virtual Eigen::Vector3f	getDirection (int index) const

virtual double	length () const
	get total length of the polyline More...

	PolyLine (const std::vector< Eigen::Vector3f > &points)
	Construct a polyline from points. The polyline consists of lines which starts with p[i] and ends with p[i+1]. More...

void	toMarker (visualization_msgs::Marker &marker) const

Public Member Functions inherited from jsk_recognition_utils::Line
virtual double	angle (const Line &other) const
	compute angle between a given line. More...

virtual double	computeAlpha (const Point &p) const

virtual double	distance (const Line &other) const
	compute a distance to line. More...

virtual double	distanceToPoint (const Eigen::Vector3f &from) const
	compute a distance to a point More...

virtual double	distanceToPoint (const Eigen::Vector3f &from, Eigen::Vector3f &foot) const
	compute a distance to a point and foot point will be assigned to foot. More...

virtual PointPair	findEndPoints (const Vertices &points) const
	Extract end points from the points on the lines. More...

virtual Line::Ptr	flip ()

virtual void	foot (const Eigen::Vector3f &point, Eigen::Vector3f &output) const
	compute a point which gives perpendicular projection. More...

virtual void	getDirection (Eigen::Vector3f &output) const
	get normalized direction vector of the line and assign it to output. More...

virtual Eigen::Vector3f	getDirection () const
	get normalized direction vector of the line. More...

virtual void	getOrigin (Eigen::Vector3f &output) const
	get origin of the line and assing it to output. More...

virtual Eigen::Vector3f	getOrigin () const
	get origin of the line. More...

virtual bool	isParallel (const Line &other, double angle_threshold=0.1) const
	return true if given line is parallel. angle_threshold is error tolerance. More...

virtual bool	isPerpendicular (const Line &other, double angle_threshold=0.1) const
	return true if given line is perpendicular. angle_threshold is error tolerance. More...

virtual bool	isSameDirection (const Line &other) const

	Line (const Eigen::Vector3f &direction, const Eigen::Vector3f &origin)
	Construct a line from direction vector and a point on the line. More...

virtual Ptr	midLine (const Line &other) const
	compute a middle line between given line. More...

virtual void	parallelLineNormal (const Line &other, Eigen::Vector3f &output) const
	compute a perpendicular line of two lines from origin_ More...

virtual Ptr	parallelLineOnAPoint (const Eigen::Vector3f &p) const
	compute a line on a point, whose direction is same to the current line. More...

virtual void	point (double alpha, Eigen::Vector3f &ouptut)
	Compute a point on normal from alpha parameter. More...

virtual void	print ()
	Print Line information. More...

Protected Attributes
std::vector< Segment::Ptr >	segments

Protected Attributes inherited from jsk_recognition_utils::Line
Eigen::Vector3f	direction_

Eigen::Vector3f	origin_

Friends
std::ostream &	operator<< (std::ostream &os, const PolyLine &pl)

Additional Inherited Members
Static Public Member Functions inherited from jsk_recognition_utils::Line
static Ptr	fromCoefficients (const std::vector< float > &coefficients)
	Instantiate Line from array of float. More...

Detailed Description

Class to represent 3-D polyline (not closed).

Definition at line 51 of file polyline.h.

Member Typedef Documentation

typedef boost::shared_ptr<PolyLine> jsk_recognition_utils::PolyLine::Ptr

Definition at line 54 of file polyline.h.

Constructor & Destructor Documentation

jsk_recognition_utils::PolyLine::PolyLine ( const std::vector< Eigen::Vector3f > & points )

Construct a polyline from points. The polyline consists of lines which starts with p[i] and ends with p[i+1].

Parameters

points

Definition at line 43 of file polyline.cpp.

Member Function Documentation

Segment::Ptr jsk_recognition_utils::PolyLine::at ( int index ) const

virtual

@ brief get the line positioned at index

Parameters

index position of the line

Definition at line 53 of file polyline.cpp.

double jsk_recognition_utils::PolyLine::distance	(	const Eigen::Vector3f &	point,
		Eigen::Vector3f &	foot_point
	)		const

virtual

compute a distance to a point

Definition at line 93 of file polyline.cpp.

double jsk_recognition_utils::PolyLine::distance ( const Eigen::Vector3f & point ) const

virtual

Definition at line 85 of file polyline.cpp.

double jsk_recognition_utils::PolyLine::distanceWithInfo	(	const Eigen::Vector3f &	from,
		Eigen::Vector3f &	foot_point,
		double &	distance_to_goal,
		int &	foot_index,
		double &	foot_alpha
	)		const

virtual

compute a distance to a point, get various information

Definition at line 58 of file polyline.cpp.

PolyLine::Ptr jsk_recognition_utils::PolyLine::flipPolyLine ( ) const

virtual

@ brief flip direction of the polyline.

Definition at line 121 of file polyline.cpp.

void jsk_recognition_utils::PolyLine::getDirection	(	int	index,
		Eigen::Vector3f &	output
	)		const

virtual

get normalized direction vector of the line.

Parameters

index position of the line which returns direction

Definition at line 101 of file polyline.cpp.

Eigen::Vector3f jsk_recognition_utils::PolyLine::getDirection ( int index ) const

virtual

Definition at line 105 of file polyline.cpp.

double jsk_recognition_utils::PolyLine::length ( ) const

virtual

get total length of the polyline

Definition at line 112 of file polyline.cpp.

void jsk_recognition_utils::PolyLine::toMarker ( visualization_msgs::Marker & marker ) const

@ brief make marker message to display the polyline

Definition at line 127 of file polyline.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const PolyLine &	pl
	)

friend

Definition at line 166 of file polyline.cpp.

Member Data Documentation

std::vector< Segment::Ptr > jsk_recognition_utils::PolyLine::segments

protected

Definition at line 118 of file polyline.h.

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

Public Types

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation