jsk_recognition_utils::Line Class Reference

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

#include <line.h>

Inheritance diagram for jsk_recognition_utils::Line:

List of all members.

Public Types
typedef boost::shared_ptr< Line >	Ptr
Public Member Functions
virtual double	angle (const Line &other) const
	compute angle between a given line.
virtual double	computeAlpha (const Point &p) const
virtual double	distance (const Line &other) const
	compute a distance to line.
virtual double	distanceToPoint (const Eigen::Vector3f &from) const
	compute a distance to a point
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.
virtual PointPair	findEndPoints (const Vertices &points) const
	Extract end points from the points on the lines.
virtual Line::Ptr	flip ()
virtual void	foot (const Eigen::Vector3f &point, Eigen::Vector3f &output) const
	compute a point which gives perpendicular projection.
virtual void	getDirection (Eigen::Vector3f &output) const
	get normalized direction vector of the line and assign it to output.
virtual Eigen::Vector3f	getDirection () const
	get normalized direction vector of the line.
virtual void	getOrigin (Eigen::Vector3f &output) const
	get origin of the line and assing it to output.
virtual Eigen::Vector3f	getOrigin () const
	get origin of the line.
virtual bool	isParallel (const Line &other, double angle_threshold=0.1) const
	return true if given line is parallel. angle_threshold is error tolerance.
virtual bool	isPerpendicular (const Line &other, double angle_threshold=0.1) const
	return true if given line is perpendicular. angle_threshold is error tolerance.
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.
virtual Ptr	midLine (const Line &other) const
	compute a middle line between given line.
virtual void	parallelLineNormal (const Line &other, Eigen::Vector3f &output) const
	compute a perpendicular line of two lines from origin_
virtual Ptr	parallelLineOnAPoint (const Eigen::Vector3f &p) const
	compute a line on a point, whose direction is same to the current line.
virtual void	point (double alpha, Eigen::Vector3f &ouptut)
	Compute a point on normal from alpha parameter.
virtual void	print ()
	Print Line information.
Static Public Member Functions
static Ptr	fromCoefficients (const std::vector< float > &coefficients)
	Instantiate Line from array of float.
Protected Attributes
Eigen::Vector3f	direction_
Eigen::Vector3f	origin_

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Detailed Description

Class to represent 3-D straight line.

Definition at line 49 of file line.h.

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Member Typedef Documentation

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

Reimplemented in jsk_recognition_utils::Segment.

Definition at line 52 of file line.h.

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Constructor & Destructor Documentation

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.

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Member Function Documentation

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.

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.

double jsk_recognition_utils::Line::distance

(

const Line &

other

)

const [virtual]

compute a distance to line.

Definition at line 155 of file line.cpp.

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.

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.

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.

Line::Ptr jsk_recognition_utils::Line::flip

(

)

[virtual]

@ brief flip direction of line.

Definition at line 120 of file line.cpp.

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.

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.

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.

Eigen::Vector3f jsk_recognition_utils::Line::getDirection

(

)

const [virtual]

get normalized direction vector of the line.

Definition at line 54 of file line.cpp.

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.

Eigen::Vector3f jsk_recognition_utils::Line::getOrigin

(

)

const [virtual]

get origin of the line.

Definition at line 64 of file line.cpp.

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.

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.

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.

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.

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.

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.

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.

void jsk_recognition_utils::Line::print

(

)

[virtual]

Print Line information.

Definition at line 195 of file line.cpp.

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Member Data Documentation

Eigen::Vector3f jsk_recognition_utils::Line::direction_ [protected]

Definition at line 196 of file line.h.

Eigen::Vector3f jsk_recognition_utils::Line::origin_ [protected]

Definition at line 197 of file line.h.

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

• line.h
• line.cpp