AprilTags::GLine2D Class Reference

A 2D line. More...

#include <GLine2D.h>

List of all members.

Public Member Functions
float	getDx () const
float	getDy () const
float	getFirst () const
float	getLineCoordinate (const std::pair< float, float > &p)
std::pair< float, float >	getPointOfCoordinate (float coord)
	The inverse of getLineCoordinate.
float	getSecond () const
	GLine2D ()
	Create a new line.
	GLine2D (float slope, float b)
	Create a new line.
	GLine2D (float dX, float dY, const std::pair< float, float > &pt)
	Create a new line.
	GLine2D (const std::pair< float, float > &p1, const std::pair< float, float > &p2)
	Create a new line through two points.
std::pair< float, float >	intersectionWith (const GLine2D &line) const
	Compute the point where two lines intersect, or (-1,0) if the lines are parallel.
Static Public Member Functions
static GLine2D	lsqFitXYW (const std::vector< XYWeight > &xyweights)
Protected Member Functions
void	normalizeP ()
void	normalizeSlope ()
Private Attributes
bool	didNormalizeP
bool	didNormalizeSlope
float	dx
float	dy
std::pair< float, float >	p
	A point the line passes through; when normalized, it is the point closest to the origin (hence perpendicular to the line)

---

Detailed Description

A 2D line.

Definition at line 14 of file GLine2D.h.

---

Constructor & Destructor Documentation

AprilTags::GLine2D::GLine2D

(

)

Create a new line.

Definition at line 5 of file GLine2D.cc.

AprilTags::GLine2D::GLine2D	(	float	slope,
		float	b
	)

Create a new line.

Definition at line 8 of file GLine2D.cc.

AprilTags::GLine2D::GLine2D	(	float	dX,
		float	dY,
		const std::pair< float, float > &	pt
	)

Create a new line.

Definition at line 11 of file GLine2D.cc.

AprilTags::GLine2D::GLine2D	(	const std::pair< float, float > &	p1,
		const std::pair< float, float > &	p2
	)

Create a new line through two points.

Definition at line 14 of file GLine2D.cc.

---

Member Function Documentation

float AprilTags::GLine2D::getDx

(

)

const [inline]

Definition at line 56 of file GLine2D.h.

float AprilTags::GLine2D::getDy

(

)

const [inline]

Definition at line 57 of file GLine2D.h.

float AprilTags::GLine2D::getFirst

(

)

const [inline]

Definition at line 58 of file GLine2D.h.

float AprilTags::GLine2D::getLineCoordinate

(

const std::pair< float, float > &

p

)

Get the coordinate of a point (on this line), with zero corresponding to the point on the that is perpendicular toa line passing through the origin and the line.

Definition at line 17 of file GLine2D.cc.

std::pair< float, float > AprilTags::GLine2D::getPointOfCoordinate

(

float

coord

)

The inverse of getLineCoordinate.

Definition at line 22 of file GLine2D.cc.

float AprilTags::GLine2D::getSecond

(

)

const [inline]

Definition at line 59 of file GLine2D.h.

std::pair< float, float > AprilTags::GLine2D::intersectionWith

(

const GLine2D &

line

)

const

Compute the point where two lines intersect, or (-1,0) if the lines are parallel.

Definition at line 27 of file GLine2D.cc.

GLine2D AprilTags::GLine2D::lsqFitXYW

(

const std::vector< XYWeight > &

xyweights

)

[static]

Definition at line 54 of file GLine2D.cc.

void AprilTags::GLine2D::normalizeP

(

)

[protected]

Definition at line 98 of file GLine2D.cc.

void AprilTags::GLine2D::normalizeSlope

(

)

[protected]

Definition at line 89 of file GLine2D.cc.

---

Member Data Documentation

bool AprilTags::GLine2D::didNormalizeP [private]

Definition at line 69 of file GLine2D.h.

bool AprilTags::GLine2D::didNormalizeSlope [private]

Definition at line 68 of file GLine2D.h.

float AprilTags::GLine2D::dx [private]

Definition at line 66 of file GLine2D.h.

float AprilTags::GLine2D::dy [private]

Definition at line 66 of file GLine2D.h.

std::pair<float,float> AprilTags::GLine2D::p [private]

A point the line passes through; when normalized, it is the point closest to the origin (hence perpendicular to the line)

Definition at line 67 of file GLine2D.h.

---

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

• GLine2D.h
• GLine2D.cc