Class to represent 3-D polyline (not closed). More...
#include <polyline.h>
Public Types | |
| typedef boost::shared_ptr < PolyLine > | Ptr |
Public Member Functions | |
| virtual Segment::Ptr | at (int index) const |
| virtual double | distance (const Eigen::Vector3f &point, Eigen::Vector3f &foot_point) const |
| compute a distance to a point | |
| virtual double | distance (const Eigen::Vector3f &point) const |
| virtual double | distanceWithInfo (const Eigen::Vector3f &from, Eigen::Vector3f &foot_point, double &distance_to_goal, int &foot_index, double &foot_alpha) const |
| compute a distance to a point, get various information | |
| virtual PolyLine::Ptr | flipPolyLine () const |
| virtual void | getDirection (int index, Eigen::Vector3f &output) const |
| get normalized direction vector of the line. | |
| virtual Eigen::Vector3f | getDirection (int index) const |
| virtual double | length () const |
| get total length of the polyline | |
| PolyLine (const std::vector< Eigen::Vector3f > &points) | |
| Construct a polyline from points. The polyline consists of lines which starts with p[i] and ends with p[i+1]. | |
| void | toMarker (visualization_msgs::Marker &marker) const |
Protected Attributes | |
| std::vector< Segment::Ptr > | segments |
Friends | |
| std::ostream & | operator<< (std::ostream &os, const PolyLine &pl) |
Detailed Description
Class to represent 3-D polyline (not closed).
Definition at line 51 of file polyline.h.
Member Typedef Documentation
| typedef boost::shared_ptr<PolyLine> jsk_recognition_utils::PolyLine::Ptr |
Reimplemented from jsk_recognition_utils::Line.
Definition at line 54 of file polyline.h.
Constructor & Destructor Documentation
| jsk_recognition_utils::PolyLine::PolyLine | ( | const std::vector< Eigen::Vector3f > & | points | ) |
Construct a polyline from points. The polyline consists of lines which starts with p[i] and ends with p[i+1].
- Parameters:
-
points
Definition at line 43 of file polyline.cpp.
Member Function Documentation
| Segment::Ptr jsk_recognition_utils::PolyLine::at | ( | int | index | ) | const [virtual] |
@ brief get the line positioned at index
- Parameters:
-
index position of the line
Definition at line 53 of file polyline.cpp.
| double jsk_recognition_utils::PolyLine::distance | ( | const Eigen::Vector3f & | point, |
| Eigen::Vector3f & | foot_point | ||
| ) | const [virtual] |
compute a distance to a point
Definition at line 93 of file polyline.cpp.
| double jsk_recognition_utils::PolyLine::distance | ( | const Eigen::Vector3f & | point | ) | const [virtual] |
Definition at line 85 of file polyline.cpp.
| double jsk_recognition_utils::PolyLine::distanceWithInfo | ( | const Eigen::Vector3f & | from, |
| Eigen::Vector3f & | foot_point, | ||
| double & | distance_to_goal, | ||
| int & | foot_index, | ||
| double & | foot_alpha | ||
| ) | const [virtual] |
compute a distance to a point, get various information
Definition at line 58 of file polyline.cpp.
| PolyLine::Ptr jsk_recognition_utils::PolyLine::flipPolyLine | ( | ) | const [virtual] |
@ brief flip direction of the polyline.
Definition at line 121 of file polyline.cpp.
| void jsk_recognition_utils::PolyLine::getDirection | ( | int | index, |
| Eigen::Vector3f & | output | ||
| ) | const [virtual] |
get normalized direction vector of the line.
- Parameters:
-
index position of the line which returns direction
Definition at line 101 of file polyline.cpp.
| Eigen::Vector3f jsk_recognition_utils::PolyLine::getDirection | ( | int | index | ) | const [virtual] |
Definition at line 105 of file polyline.cpp.
| double jsk_recognition_utils::PolyLine::length | ( | ) | const [virtual] |
get total length of the polyline
Definition at line 112 of file polyline.cpp.
| void jsk_recognition_utils::PolyLine::toMarker | ( | visualization_msgs::Marker & | marker | ) | const |
@ brief make marker message to display the polyline
Definition at line 127 of file polyline.cpp.
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | os, |
| const PolyLine & | pl | ||
| ) | [friend] |
Definition at line 166 of file polyline.cpp.
Member Data Documentation
std::vector< Segment::Ptr > jsk_recognition_utils::PolyLine::segments [protected] |
Definition at line 118 of file polyline.h.
The documentation for this class was generated from the following files: