Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
Eigen::ParametrizedLine Class Reference
Geometry » Reference » Geometry_Module

A parametrized line. More...

#include <ForwardDeclarations.h>

Public Types

enum  { AmbientDimAtCompileTime = _AmbientDim, Options = _Options }
 
typedef Eigen::Index Index
 
typedef NumTraits< Scalar >::Real RealScalar
 
typedef _Scalar Scalar
 
typedef Matrix< Scalar, AmbientDimAtCompileTime, 1, Options > VectorType
 

Public Member Functions

template<typename NewScalarType >
EIGEN_DEVICE_FUNC internal::cast_return_type< ParametrizedLine, ParametrizedLine< NewScalarType, AmbientDimAtCompileTime, Options > >::type cast () const
 
EIGEN_DEVICE_FUNC Index dim () const
 
EIGEN_DEVICE_FUNC VectorType & direction ()
 
const EIGEN_DEVICE_FUNC VectorType & direction () const
 
EIGEN_DEVICE_FUNC RealScalar distance (const VectorType &p) const
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC Scalar intersection (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC _Scalar intersection (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC Scalar intersectionParameter (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC _Scalar intersectionParameter (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC VectorType intersectionPoint (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
 
EIGEN_DEVICE_FUNC bool isApprox (const ParametrizedLine &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
 
EIGEN_DEVICE_FUNC VectorType & origin ()
 
const EIGEN_DEVICE_FUNC VectorType & origin () const
 
EIGEN_DEVICE_FUNC ParametrizedLine ()
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC ParametrizedLine (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane)
 
template<typename OtherScalarType , int OtherOptions>
EIGEN_DEVICE_FUNC ParametrizedLine (const ParametrizedLine< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &other)
 
template<int OtherOptions>
EIGEN_DEVICE_FUNC ParametrizedLine (const ParametrizedLine< Scalar, AmbientDimAtCompileTime, OtherOptions > &other)
 
EIGEN_DEVICE_FUNC ParametrizedLine (const VectorType &origin, const VectorType &direction)
 
EIGEN_DEVICE_FUNC ParametrizedLine (Index _dim)
 
EIGEN_DEVICE_FUNC VectorType pointAt (const Scalar &t) const
 
EIGEN_DEVICE_FUNC VectorType projection (const VectorType &p) const
 
EIGEN_DEVICE_FUNC RealScalar squaredDistance (const VectorType &p) const
 
template<typename XprType >
EIGEN_DEVICE_FUNC ParametrizedLine & transform (const MatrixBase< XprType > &mat, TransformTraits traits=Affine)
 
template<int TrOptions>
EIGEN_DEVICE_FUNC ParametrizedLine & transform (const Transform< Scalar, AmbientDimAtCompileTime, Affine, TrOptions > &t, TransformTraits traits=Affine)
 
EIGEN_DEVICE_FUNC ~ParametrizedLine ()
 

Static Public Member Functions

static EIGEN_DEVICE_FUNC ParametrizedLine Through (const VectorType &p0, const VectorType &p1)
 

Protected Attributes

VectorType m_direction
 
VectorType m_origin
 

Detailed Description

A parametrized line.

\geometry_module

A parametrized line is defined by an origin point $ \mathbf{o} $ and a unit direction vector $ \mathbf{d} $ such that the line corresponds to the set $ l(t) = \mathbf{o} + t \mathbf{d} $, $ t \in \mathbf{R} $.

Template Parameters
_Scalarthe scalar type, i.e., the type of the coefficients
_AmbientDimthe dimension of the ambient space, can be a compile time value or Dynamic.

Definition at line 295 of file ForwardDeclarations.h.

Member Typedef Documentation

◆ Index

typedef Eigen::Index Eigen::ParametrizedLine::Index
Deprecated:
since Eigen 3.3

Definition at line 40 of file ParametrizedLine.h.

◆ RealScalar

typedef NumTraits<Scalar>::Real Eigen::ParametrizedLine::RealScalar

Definition at line 39 of file ParametrizedLine.h.

◆ Scalar

typedef _Scalar Eigen::ParametrizedLine::Scalar

Definition at line 38 of file ParametrizedLine.h.

◆ VectorType

typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> Eigen::ParametrizedLine::VectorType

Definition at line 41 of file ParametrizedLine.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
AmbientDimAtCompileTime 
Options 

Definition at line 34 of file ParametrizedLine.h.

Constructor & Destructor Documentation

◆ ParametrizedLine() [1/6]

EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( )
inline

Default constructor without initialization

Definition at line 44 of file ParametrizedLine.h.

◆ ParametrizedLine() [2/6]

template<int OtherOptions>
EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( const ParametrizedLine< Scalar, AmbientDimAtCompileTime, OtherOptions > &  other)
inline

Definition at line 47 of file ParametrizedLine.h.

◆ ParametrizedLine() [3/6]

EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( Index  _dim)
inlineexplicit

Constructs a dynamic-size line with _dim the dimension of the ambient space

Definition at line 53 of file ParametrizedLine.h.

◆ ParametrizedLine() [4/6]

EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( const VectorType &  origin,
const VectorType &  direction 
)
inline

Initializes a parametrized line of direction direction and origin origin.

Warning
the vector direction is assumed to be normalized.

Definition at line 58 of file ParametrizedLine.h.

◆ ParametrizedLine() [5/6]

template<int OtherOptions>
EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane)
inlineexplicit

Constructs a parametrized line from a 2D hyperplane

Warning
the ambient space must have dimension 2 such that the hyperplane actually describes a line

Definition at line 183 of file ParametrizedLine.h.

◆ ~ParametrizedLine()

EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::~ParametrizedLine ( )
inline

Definition at line 68 of file ParametrizedLine.h.

◆ ParametrizedLine() [6/6]

template<typename OtherScalarType , int OtherOptions>
EIGEN_DEVICE_FUNC Eigen::ParametrizedLine::ParametrizedLine ( const ParametrizedLine< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &  other)
inlineexplicit

Copy constructor with scalar type conversion

Definition at line 159 of file ParametrizedLine.h.

Member Function Documentation

◆ cast()

template<typename NewScalarType >
EIGEN_DEVICE_FUNC internal::cast_return_type<ParametrizedLine, ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type Eigen::ParametrizedLine::cast ( ) const
inline
Returns
*this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 151 of file ParametrizedLine.h.

◆ dim()

EIGEN_DEVICE_FUNC Index Eigen::ParametrizedLine::dim ( ) const
inline
Returns
the dimension in which the line holds

Definition at line 71 of file ParametrizedLine.h.

◆ direction() [1/2]

EIGEN_DEVICE_FUNC VectorType& Eigen::ParametrizedLine::direction ( )
inline

Definition at line 77 of file ParametrizedLine.h.

◆ direction() [2/2]

const EIGEN_DEVICE_FUNC VectorType& Eigen::ParametrizedLine::direction ( ) const
inline

Definition at line 76 of file ParametrizedLine.h.

◆ distance()

EIGEN_DEVICE_FUNC RealScalar Eigen::ParametrizedLine::distance ( const VectorType &  p) const
inline
Returns
the distance of a point p to its projection onto the line *this.
See also
squaredDistance()

Definition at line 90 of file ParametrizedLine.h.

◆ intersection() [1/2]

template<int OtherOptions>
EIGEN_DEVICE_FUNC Scalar Eigen::ParametrizedLine::intersection ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const

◆ intersection() [2/2]

template<int OtherOptions>
EIGEN_DEVICE_FUNC _Scalar Eigen::ParametrizedLine::intersection ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const
inline
Deprecated:
use intersectionParameter()
Returns
the parameter value of the intersection between *this and the given hyperplane

Definition at line 215 of file ParametrizedLine.h.

◆ intersectionParameter() [1/2]

template<int OtherOptions>
EIGEN_DEVICE_FUNC Scalar Eigen::ParametrizedLine::intersectionParameter ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const

◆ intersectionParameter() [2/2]

template<int OtherOptions>
EIGEN_DEVICE_FUNC _Scalar Eigen::ParametrizedLine::intersectionParameter ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const
inline
Returns
the parameter value of the intersection between *this and the given hyperplane

Definition at line 203 of file ParametrizedLine.h.

◆ intersectionPoint()

template<int OtherOptions>
EIGEN_DEVICE_FUNC ParametrizedLine< _Scalar, _AmbientDim, _Options >::VectorType Eigen::ParametrizedLine::intersectionPoint ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const
inline
Returns
the point of the intersection between *this and the given hyperplane

Definition at line 225 of file ParametrizedLine.h.

◆ isApprox()

EIGEN_DEVICE_FUNC bool Eigen::ParametrizedLine::isApprox ( const ParametrizedLine &  other,
const typename NumTraits< Scalar >::Real &  prec = NumTraits<Scalar>::dummy_precision() 
) const
inline
Returns
true if *this is approximately equal to other, within the precision determined by prec.
See also
MatrixBase::isApprox()

Definition at line 169 of file ParametrizedLine.h.

◆ origin() [1/2]

EIGEN_DEVICE_FUNC VectorType& Eigen::ParametrizedLine::origin ( )
inline

Definition at line 74 of file ParametrizedLine.h.

◆ origin() [2/2]

const EIGEN_DEVICE_FUNC VectorType& Eigen::ParametrizedLine::origin ( ) const
inline

Definition at line 73 of file ParametrizedLine.h.

◆ pointAt()

EIGEN_DEVICE_FUNC ParametrizedLine< _Scalar, _AmbientDim, _Options >::VectorType Eigen::ParametrizedLine::pointAt ( const Scalar &  t) const
inline
Returns
the point at t along this line

Definition at line 194 of file ParametrizedLine.h.

◆ projection()

EIGEN_DEVICE_FUNC VectorType Eigen::ParametrizedLine::projection ( const VectorType &  p) const
inline
Returns
the projection of a point p onto the line *this.

Definition at line 93 of file ParametrizedLine.h.

◆ squaredDistance()

EIGEN_DEVICE_FUNC RealScalar Eigen::ParametrizedLine::squaredDistance ( const VectorType &  p) const
inline
Returns
the squared distance of a point p to its projection onto the line *this.
See also
distance()

Definition at line 82 of file ParametrizedLine.h.

◆ Through()

static EIGEN_DEVICE_FUNC ParametrizedLine Eigen::ParametrizedLine::Through ( const VectorType &  p0,
const VectorType &  p1 
)
inlinestatic

Constructs a parametrized line going from p0 to p1.

Definition at line 65 of file ParametrizedLine.h.

◆ transform() [1/2]

template<typename XprType >
EIGEN_DEVICE_FUNC ParametrizedLine& Eigen::ParametrizedLine::transform ( const MatrixBase< XprType > &  mat,
TransformTraits  traits = Affine 
)
inline

Applies the transformation matrix mat to *this and returns a reference to *this.

Parameters
matthe Dim x Dim transformation matrix
traitsspecifies whether the matrix mat represents an Isometry or a more generic Affine transformation. The default is Affine.

Definition at line 114 of file ParametrizedLine.h.

◆ transform() [2/2]

template<int TrOptions>
EIGEN_DEVICE_FUNC ParametrizedLine& Eigen::ParametrizedLine::transform ( const Transform< Scalar, AmbientDimAtCompileTime, Affine, TrOptions > &  t,
TransformTraits  traits = Affine 
)
inline

Applies the transformation t to *this and returns a reference to *this.

Parameters
tthe transformation of dimension Dim
traitsspecifies whether the transformation t represents an Isometry or a more generic Affine transformation. The default is Affine. Other kind of transformations are not supported.

Definition at line 136 of file ParametrizedLine.h.

Member Data Documentation

◆ m_direction

VectorType Eigen::ParametrizedLine::m_direction
protected

Definition at line 174 of file ParametrizedLine.h.

◆ m_origin

VectorType Eigen::ParametrizedLine::m_origin
protected

Definition at line 174 of file ParametrizedLine.h.

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

gtsam
Author(s):
autogenerated on Wed May 28 2025 03:10:18