rve_geometry::Ray Class Reference

List of all members.

Public Member Functions
rve_msgs::Vector3	getPoint (float distance)
std::pair< bool, float >	intersect (const Plane &plane)
Static Public Member Functions
static Ray	createFromCameraPixel (const rve_render_client::CameraPtr &camera, float screen_x, float screen_y)
Private Attributes
Eigen::Vector3f	direction_
Eigen::Vector3f	origin_

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Detailed Description

Internal class, not for public consumption. Needs cleanup before becoming public.

Definition at line 40 of file screen_to_world.cpp.

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Member Function Documentation

Ray rve_geometry::Ray::createFromCameraPixel	(	const rve_render_client::CameraPtr &	camera,
		float	screen_x,
		float	screen_y
	)		[static]

Create a ray from a camera and an x,y pixel position on it.

Definition at line 117 of file screen_to_world.cpp.

rve_msgs::Vector3 rve_geometry::Ray::getPoint

(

float

distance

)

Return the point in space which is "distance" away from the origin along the ray.

Definition at line 61 of file screen_to_world.cpp.

std::pair< bool, float > rve_geometry::Ray::intersect

(

const Plane &

plane

)

Return a boolean indicating whether this ray intersects the plane, and if it does, also return the distance along the ray where the intersection happens.

Definition at line 66 of file screen_to_world.cpp.

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Member Data Documentation

Eigen::Vector3f rve_geometry::Ray::direction_ [private]

Definition at line 58 of file screen_to_world.cpp.

Eigen::Vector3f rve_geometry::Ray::origin_ [private]

Definition at line 57 of file screen_to_world.cpp.

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

• screen_to_world.cpp