Class to represent 3-D straight line. More...

#include <line.h>

Inheritance diagram for jsk_recognition_utils::Line:

Public Types
typedef boost::shared_ptr< Line >	Ptr

Public Member Functions
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 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...

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

Protected Attributes
Eigen::Vector3f	direction_

Eigen::Vector3f	origin_

Detailed Description

Class to represent 3-D straight line.

Definition at line 81 of file line.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 116 of file line.h.

Constructor & Destructor Documentation

◆ Line()

jsk_recognition_utils::Line::Line	(	const Eigen::Vector3f &	direction,
		const Eigen::Vector3f &	origin
	)

Construct a line from direction vector and a point on the line.

Parameters

direction	direction of the line. non-normalized vector is allowed.
origin	point on the line.

Definition at line 43 of file line.cpp.

Member Function Documentation

◆ angle()

double jsk_recognition_utils::Line::angle ( const Line & other ) const

virtual

compute angle between a given line.

Definition at line 88 of file line.cpp.

◆ computeAlpha()

double jsk_recognition_utils::Line::computeAlpha ( const Point & p ) const

virtual

@ brief Let equation of line's scale factor a.

x = a d + p where d is a normalized direction vector and p is a point on the vector.

Definition at line 168 of file line.cpp.

◆ distance()

double jsk_recognition_utils::Line::distance ( const Line & other ) const

virtual

compute a distance to line.

Definition at line 155 of file line.cpp.

◆ distanceToPoint() [1/2]

double jsk_recognition_utils::Line::distanceToPoint ( const Eigen::Vector3f & from ) const

virtual

compute a distance to a point

Definition at line 82 of file line.cpp.

◆ distanceToPoint() [2/2]

double jsk_recognition_utils::Line::distanceToPoint	(	const Eigen::Vector3f &	from,
		Eigen::Vector3f &	foot
	)		const

virtual

compute a distance to a point and foot point will be assigned to foot.

Definition at line 75 of file line.cpp.

◆ findEndPoints()

PointPair jsk_recognition_utils::Line::findEndPoints ( const Vertices & points ) const

virtual

Extract end points from the points on the lines.

Definition at line 173 of file line.cpp.

◆ flip()

Line::Ptr jsk_recognition_utils::Line::flip ( )

virtual

@ brief flip direction of line.

Definition at line 120 of file line.cpp.

◆ foot()

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

virtual

compute a point which gives perpendicular projection.

Reimplemented in jsk_recognition_utils::Segment.

Definition at line 69 of file line.cpp.

◆ fromCoefficients()

Line::Ptr jsk_recognition_utils::Line::fromCoefficients ( const std::vector< float > & coefficients )

static

Instantiate Line from array of float.

Definition at line 143 of file line.cpp.

◆ getDirection() [1/2]

Eigen::Vector3f jsk_recognition_utils::Line::getDirection ( ) const

virtual

get normalized direction vector of the line.

Definition at line 54 of file line.cpp.

◆ getDirection() [2/2]

void jsk_recognition_utils::Line::getDirection ( Eigen::Vector3f & output ) const

virtual

get normalized direction vector of the line and assign it to output.

Definition at line 49 of file line.cpp.

◆ getOrigin() [1/2]

Eigen::Vector3f jsk_recognition_utils::Line::getOrigin ( ) const

virtual

get origin of the line.

Definition at line 64 of file line.cpp.

◆ getOrigin() [2/2]

void jsk_recognition_utils::Line::getOrigin ( Eigen::Vector3f & output ) const

virtual

get origin of the line and assing it to output.

Definition at line 59 of file line.cpp.

◆ isParallel()

bool jsk_recognition_utils::Line::isParallel	(	const Line &	other,
		double	angle_threshold = `0.1`
	)		const

virtual

return true if given line is parallel. angle_threshold is error tolerance.

Definition at line 105 of file line.cpp.

◆ isPerpendicular()

bool jsk_recognition_utils::Line::isPerpendicular	(	const Line &	other,
		double	angle_threshold = `0.1`
	)		const

virtual

return true if given line is perpendicular. angle_threshold is error tolerance.

Definition at line 110 of file line.cpp.

◆ isSameDirection()

bool jsk_recognition_utils::Line::isSameDirection ( const Line & other ) const

virtual

@ brief Return true if given line is towards the same direction.

Definition at line 115 of file line.cpp.

◆ midLine()

Line::Ptr jsk_recognition_utils::Line::midLine ( const Line & other ) const

virtual

compute a middle line between given line.

Definition at line 126 of file line.cpp.

◆ parallelLineNormal()

void jsk_recognition_utils::Line::parallelLineNormal	(	const Line &	other,
		Eigen::Vector3f &	output
	)		const

virtual

compute a perpendicular line of two lines from origin_

Definition at line 135 of file line.cpp.

◆ parallelLineOnAPoint()

Line::Ptr jsk_recognition_utils::Line::parallelLineOnAPoint ( const Eigen::Vector3f & p ) const

virtual

compute a line on a point, whose direction is same to the current line.

Definition at line 162 of file line.cpp.

◆ point()

void jsk_recognition_utils::Line::point	(	double	alpha,
		Eigen::Vector3f &	ouptut
	)

virtual

Compute a point on normal from alpha parameter.

Definition at line 201 of file line.cpp.

◆ print()

void jsk_recognition_utils::Line::print ( )

virtual

Print Line information.

Definition at line 195 of file line.cpp.

Member Data Documentation

◆ direction_

Eigen::Vector3f jsk_recognition_utils::Line::direction_

protected

Definition at line 260 of file line.h.

◆ origin_

Eigen::Vector3f jsk_recognition_utils::Line::origin_

protected

Definition at line 261 of file line.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ Line()

Member Function Documentation

◆ angle()

◆ computeAlpha()

◆ distance()

◆ distanceToPoint() [1/2]

◆ distanceToPoint() [2/2]

◆ findEndPoints()

◆ flip()

◆ foot()

◆ fromCoefficients()

◆ getDirection() [1/2]

◆ getDirection() [2/2]

◆ getOrigin() [1/2]

◆ getOrigin() [2/2]

◆ isParallel()

◆ isPerpendicular()

◆ isSameDirection()

◆ midLine()

◆ parallelLineNormal()

◆ parallelLineOnAPoint()

◆ point()

◆ print()

Member Data Documentation

◆ direction_

◆ origin_