Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin. Currently it provides a transform of the plane, and a norm 1 differencing of two planes. Refer to Trevor12iros for more math details. More...

#include <OrientedPlane3.h>

Public Member Functions
size_t	dim () const
	Dimensionality of tangent space = 3 DOF. More...

double	distance (OptionalJacobian< 1, 3 > H={}) const
	Return the perpendicular distance to the origin. More...

Vector3	errorVector (const OrientedPlane3 &other, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const

Vector3	localCoordinates (const OrientedPlane3 &s) const
	The local coordinates function. More...

Unit3	normal (OptionalJacobian< 2, 3 > H={}) const
	Return the normal. More...

Vector4	planeCoefficients () const
	Returns the plane coefficients. More...

OrientedPlane3	retract (const Vector3 &v, OptionalJacobian< 3, 3 > H={}) const
	The retract function. More...

OrientedPlane3	transform (const Pose3 &xr, OptionalJacobian< 3, 3 > Hp={}, OptionalJacobian< 3, 6 > Hr={}) const

Constructors
	OrientedPlane3 ()
	Default constructor. More...

	OrientedPlane3 (const Unit3 &n, double d)
	Construct from a Unit3 and a distance. More...

	OrientedPlane3 (const Vector4 &vec)
	Construct from a vector of plane coefficients. More...

	OrientedPlane3 (double a, double b, double c, double d)
	Construct from four numbers of plane coeffcients (a, b, c, d) More...

Testable
void	print (const std::string &s=std::string()) const
	The print function. More...

bool	equals (const OrientedPlane3 &s, double tol=1e-9) const
	The equals function with tolerance. More...

Static Public Member Functions
static size_t	Dim ()
	Dimensionality of tangent space = 3 DOF. More...

Static Public Attributes
constexpr static auto	dimension = 3

Private Attributes
double	d_
	The perpendicular distance to this plane. More...

Unit3	n_
	The direction of the planar normal. More...

Detailed Description

Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin. Currently it provides a transform of the plane, and a norm 1 differencing of two planes. Refer to Trevor12iros for more math details.

Definition at line 36 of file OrientedPlane3.h.

Constructor & Destructor Documentation

◆ OrientedPlane3() [1/4]

gtsam::OrientedPlane3::OrientedPlane3 ( )

inline

Default constructor.

Definition at line 48 of file OrientedPlane3.h.

◆ OrientedPlane3() [2/4]

gtsam::OrientedPlane3::OrientedPlane3	(	const Unit3 &	n,
		double	d
	)

inline

Construct from a Unit3 and a distance.

Definition at line 53 of file OrientedPlane3.h.

◆ OrientedPlane3() [3/4]

gtsam::OrientedPlane3::OrientedPlane3 ( const Vector4 & vec )

inlineexplicit

Construct from a vector of plane coefficients.

Definition at line 58 of file OrientedPlane3.h.

◆ OrientedPlane3() [4/4]

gtsam::OrientedPlane3::OrientedPlane3	(	double	a,
		double	b,
		double	c,
		double	d
	)

inline

Construct from four numbers of plane coeffcients (a, b, c, d)

Definition at line 62 of file OrientedPlane3.h.

Member Function Documentation

◆ Dim()

static size_t gtsam::OrientedPlane3::Dim ( )

inlinestatic

Dimensionality of tangent space = 3 DOF.

Definition at line 103 of file OrientedPlane3.h.

◆ dim()

size_t gtsam::OrientedPlane3::dim ( ) const

inline

Dimensionality of tangent space = 3 DOF.

Definition at line 108 of file OrientedPlane3.h.

◆ distance()

double gtsam::OrientedPlane3::distance ( OptionalJacobian< 1, 3 > H = {} ) const

inline

Return the perpendicular distance to the origin.

Definition at line 132 of file OrientedPlane3.h.

◆ equals()

bool gtsam::OrientedPlane3::equals	(	const OrientedPlane3 &	s,
		double	tol = `1e-9`
	)		const

inline

The equals function with tolerance.

Definition at line 75 of file OrientedPlane3.h.

◆ errorVector()

Vector3 gtsam::OrientedPlane3::errorVector	(	const OrientedPlane3 &	other,
		OptionalJacobian< 3, 3 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Computes the error between the two planes, with derivatives. This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses Unit3::localCoordinates. This one has correct derivatives. NOTE(hayk): The derivatives are zero when normals are exactly orthogonal.

Parameters

other the other plane

Definition at line 61 of file OrientedPlane3.cpp.

◆ localCoordinates()

Vector3 gtsam::OrientedPlane3::localCoordinates ( const OrientedPlane3 & s ) const

The local coordinates function.

Definition at line 92 of file OrientedPlane3.cpp.

◆ normal()

Unit3 gtsam::OrientedPlane3::normal ( OptionalJacobian< 2, 3 > H = {} ) const

inline

Return the normal.

Definition at line 126 of file OrientedPlane3.h.

◆ planeCoefficients()

Vector4 gtsam::OrientedPlane3::planeCoefficients ( ) const

inline

Returns the plane coefficients.

Definition at line 120 of file OrientedPlane3.h.

◆ print()

void gtsam::OrientedPlane3::print ( const std::string & s = std::string() ) const

The print function.

Definition at line 29 of file OrientedPlane3.cpp.

◆ retract()

OrientedPlane3 gtsam::OrientedPlane3::retract	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H = `{}`
	)		const

The retract function.

Definition at line 81 of file OrientedPlane3.cpp.

◆ transform()

OrientedPlane3 gtsam::OrientedPlane3::transform	(	const Pose3 &	xr,
		OptionalJacobian< 3, 3 >	Hp = `{}`,
		OptionalJacobian< 3, 6 >	Hr = `{}`
	)		const

Transforms a plane to the specified pose

Parameters

xr	a transformation in current coordiante
Hp	optional Jacobian wrpt the destination plane
Hr	optional jacobian wrpt the pose transformation

Returns: the transformed plane

Definition at line 35 of file OrientedPlane3.cpp.

Member Data Documentation

◆ d_

double gtsam::OrientedPlane3::d_

private

The perpendicular distance to this plane.

Definition at line 39 of file OrientedPlane3.h.

◆ dimension

constexpr static auto gtsam::OrientedPlane3::dimension = 3

inlinestaticconstexpr

Definition at line 42 of file OrientedPlane3.h.

◆ n_

Unit3 gtsam::OrientedPlane3::n_

private

The direction of the planar normal.

Definition at line 38 of file OrientedPlane3.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OrientedPlane3() [1/4]

◆ OrientedPlane3() [2/4]

◆ OrientedPlane3() [3/4]

◆ OrientedPlane3() [4/4]

Member Function Documentation

◆ Dim()

◆ dim()

◆ distance()

◆ equals()

◆ errorVector()

◆ localCoordinates()

◆ normal()

◆ planeCoefficients()

◆ print()

◆ retract()

◆ transform()

Member Data Documentation

◆ d_

◆ dimension

◆ n_