Class to represent 3-D straight line which has finite length. More...

#include <segment.h>

Inheritance diagram for jsk_recognition_utils::Segment:

Public Types
typedef boost::shared_ptr< Segment >	Ptr

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

Public Member Functions
virtual double	distance (const Eigen::Vector3f &point) const

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

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

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

virtual Segment::Ptr	flipSegment () const
	return flipped line (line of opposite direction) More...

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

virtual Eigen::Vector3f	getEnd () const

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

virtual bool	intersect (Plane &plane, Eigen::Vector3f &point) const

virtual bool	isCross (const Line &ln, double distance_threshold=1e-5) const
	is crossing with another line More...

virtual bool	isCross (const Segment &ln, double distance_threshold=1e-5) const

virtual double	length () const
	return length of the line More...

virtual void	midpoint (Eigen::Vector3f &midpoint) const

	Segment (const Eigen::Vector3f &from, const Eigen::Vector3f to)
	Construct a line from a start point and a goal point. More...

void	toMarker (visualization_msgs::Marker &marker) const
	make marker message to display the finite line More...

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

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

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

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

Eigen::Vector3f	to_

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

Eigen::Vector3f	origin_

Friends
std::ostream &	operator<< (std::ostream &os, const Segment &seg)

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 straight line which has finite length.

Definition at line 82 of file segment.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 85 of file segment.h.

Constructor & Destructor Documentation

◆ Segment()

jsk_recognition_utils::Segment::Segment	(	const Eigen::Vector3f &	from,
		const Eigen::Vector3f	to
	)

Construct a line from a start point and a goal point.

Parameters

from
to

Definition at line 42 of file segment.cpp.

Member Function Documentation

◆ distance() [1/2]

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

virtual

Definition at line 76 of file segment.cpp.

◆ distance() [2/2]

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

virtual

Definition at line 82 of file segment.cpp.

◆ distanceWithInfo()

double jsk_recognition_utils::Segment::distanceWithInfo	(	const Eigen::Vector3f &	from,
		Eigen::Vector3f &	foot_point,
		double &	distance_to_goal
	)		const

virtual

compute a distance to a point

Parameters

from
foot_point
distance_to_goal

Definition at line 118 of file segment.cpp.

◆ dividingRatio()

double jsk_recognition_utils::Segment::dividingRatio ( const Eigen::Vector3f & point ) const

virtual

Definition at line 47 of file segment.cpp.

◆ flipSegment()

Segment::Ptr jsk_recognition_utils::Segment::flipSegment ( ) const

virtual

return flipped line (line of opposite direction)

Definition at line 139 of file segment.cpp.

◆ foot()

void jsk_recognition_utils::Segment::foot	(	const Eigen::Vector3f &	point,
		Eigen::Vector3f &	output
	)		const

virtual

compute a point which gives perpendicular projection.

Reimplemented from jsk_recognition_utils::Line.

Definition at line 60 of file segment.cpp.

◆ getEnd() [1/2]

Eigen::Vector3f jsk_recognition_utils::Segment::getEnd ( ) const

virtual

Definition at line 113 of file segment.cpp.

◆ getEnd() [2/2]

void jsk_recognition_utils::Segment::getEnd ( Eigen::Vector3f & output ) const

virtual

get end of the line and assing it to output.

Definition at line 108 of file segment.cpp.

◆ intersect()

bool jsk_recognition_utils::Segment::intersect	(	Plane &	plane,
		Eigen::Vector3f &	point
	)		const

virtual

Definition at line 89 of file segment.cpp.

◆ isCross() [1/2]

bool jsk_recognition_utils::Segment::isCross	(	const Line &	ln,
		double	distance_threshold = `1e-5`
	)		const

virtual

is crossing with another line

Definition at line 174 of file segment.cpp.

◆ isCross() [2/2]

bool jsk_recognition_utils::Segment::isCross	(	const Segment &	ln,
		double	distance_threshold = `1e-5`
	)		const

virtual

Definition at line 200 of file segment.cpp.

◆ length()

double jsk_recognition_utils::Segment::length ( ) const

virtual

return length of the line

Definition at line 145 of file segment.cpp.

◆ midpoint()

void jsk_recognition_utils::Segment::midpoint ( Eigen::Vector3f & midpoint ) const

virtual

Definition at line 97 of file segment.cpp.

◆ toMarker()

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

make marker message to display the finite line

Definition at line 150 of file segment.cpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const Segment &	seg
	)

friend

Definition at line 102 of file segment.cpp.

Member Data Documentation

◆ length_

double jsk_recognition_utils::Segment::length_

protected

Definition at line 150 of file segment.h.

◆ to_

Eigen::Vector3f jsk_recognition_utils::Segment::to_

protected

Definition at line 149 of file segment.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

◆ Ptr

Constructor & Destructor Documentation

◆ Segment()

Member Function Documentation

◆ distance() [1/2]

◆ distance() [2/2]

◆ distanceWithInfo()

◆ dividingRatio()

◆ flipSegment()

◆ foot()

◆ getEnd() [1/2]

◆ getEnd() [2/2]

◆ intersect()

◆ isCross() [1/2]

◆ isCross() [2/2]

◆ length()

◆ midpoint()

◆ toMarker()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ length_

◆ to_