Class to represent 3-D straight line which has finite length. More...
#include <segment.h>
Public Types | |
| typedef boost::shared_ptr < Segment > | Ptr |
Public Member Functions | |
| virtual double | distance (const Eigen::Vector3f &point) const |
| virtual double | distance (const Eigen::Vector3f &point, Eigen::Vector3f &foot_point) const |
| virtual double | distanceWithInfo (const Eigen::Vector3f &from, Eigen::Vector3f &foot_point, double &distance_to_goal) const |
| compute a distance to a point | |
| virtual double | dividingRatio (const Eigen::Vector3f &point) const |
| virtual Segment::Ptr | flipSegment () const |
| return flipped line (line of opposite direction) | |
| virtual void | foot (const Eigen::Vector3f &point, Eigen::Vector3f &output) const |
| compute a point which gives perpendicular projection. | |
| virtual void | getEnd (Eigen::Vector3f &output) const |
| get end of the line and assing it to output. | |
| virtual Eigen::Vector3f | getEnd () const |
| virtual bool | intersect (Plane &plane, Eigen::Vector3f &point) const |
| virtual bool | isCross (const Line &ln, double distance_threshold=1e-5) const |
| is crossing with another line | |
| virtual bool | isCross (const Segment &ln, double distance_threshold=1e-5) const |
| virtual double | length () const |
| return length of the line | |
| virtual void | midpoint (Eigen::Vector3f &midpoint) const |
| Segment (const Eigen::Vector3f &from, const Eigen::Vector3f to) | |
| Construct a line from a start point and a goal point. | |
| void | toMarker (visualization_msgs::Marker &marker) const |
| make marker message to display the finite line | |
Protected Attributes | |
| double | length_ |
| Eigen::Vector3f | to_ |
Friends | |
| std::ostream & | operator<< (std::ostream &os, const Segment &seg) |
Detailed Description
Class to represent 3-D straight line which has finite length.
Member Typedef Documentation
| typedef boost::shared_ptr<Segment> jsk_recognition_utils::Segment::Ptr |
Reimplemented from jsk_recognition_utils::Line.
Constructor & Destructor Documentation
| jsk_recognition_utils::Segment::Segment | ( | const Eigen::Vector3f & | from, |
| const Eigen::Vector3f | to | ||
| ) |
Construct a line from a start point and a goal point.
- Parameters:
-
from to
Definition at line 42 of file segment.cpp.
Member Function Documentation
| double jsk_recognition_utils::Segment::distance | ( | const Eigen::Vector3f & | point | ) | const [virtual] |
Definition at line 76 of file segment.cpp.
| double jsk_recognition_utils::Segment::distance | ( | const Eigen::Vector3f & | point, |
| Eigen::Vector3f & | foot_point | ||
| ) | const [virtual] |
Definition at line 82 of file segment.cpp.
| double jsk_recognition_utils::Segment::distanceWithInfo | ( | const Eigen::Vector3f & | from, |
| Eigen::Vector3f & | foot_point, | ||
| double & | distance_to_goal | ||
| ) | const [virtual] |
compute a distance to a point
- Parameters:
-
from foot_point distance_to_goal
Definition at line 118 of file segment.cpp.
| double jsk_recognition_utils::Segment::dividingRatio | ( | const Eigen::Vector3f & | point | ) | const [virtual] |
Definition at line 47 of file segment.cpp.
| Segment::Ptr jsk_recognition_utils::Segment::flipSegment | ( | ) | const [virtual] |
return flipped line (line of opposite direction)
Definition at line 139 of file segment.cpp.
| void jsk_recognition_utils::Segment::foot | ( | const Eigen::Vector3f & | point, |
| Eigen::Vector3f & | output | ||
| ) | const [virtual] |
compute a point which gives perpendicular projection.
Reimplemented from jsk_recognition_utils::Line.
Definition at line 60 of file segment.cpp.
| void jsk_recognition_utils::Segment::getEnd | ( | Eigen::Vector3f & | output | ) | const [virtual] |
get end of the line and assing it to output.
Definition at line 108 of file segment.cpp.
| Eigen::Vector3f jsk_recognition_utils::Segment::getEnd | ( | ) | const [virtual] |
Definition at line 113 of file segment.cpp.
| bool jsk_recognition_utils::Segment::intersect | ( | Plane & | plane, |
| Eigen::Vector3f & | point | ||
| ) | const [virtual] |
Definition at line 89 of file segment.cpp.
| bool jsk_recognition_utils::Segment::isCross | ( | const Line & | ln, |
| double | distance_threshold = 1e-5 |
||
| ) | const [virtual] |
is crossing with another line
Definition at line 174 of file segment.cpp.
| bool jsk_recognition_utils::Segment::isCross | ( | const Segment & | ln, |
| double | distance_threshold = 1e-5 |
||
| ) | const [virtual] |
Definition at line 200 of file segment.cpp.
| double jsk_recognition_utils::Segment::length | ( | ) | const [virtual] |
return length of the line
Definition at line 145 of file segment.cpp.
| void jsk_recognition_utils::Segment::midpoint | ( | Eigen::Vector3f & | midpoint | ) | const [virtual] |
Definition at line 97 of file segment.cpp.
| void jsk_recognition_utils::Segment::toMarker | ( | visualization_msgs::Marker & | marker | ) | const |
make marker message to display the finite line
Definition at line 150 of file segment.cpp.
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | os, |
| const Segment & | seg | ||
| ) | [friend] |
Definition at line 102 of file segment.cpp.
Member Data Documentation
double jsk_recognition_utils::Segment::length_ [protected] |
Eigen::Vector3f jsk_recognition_utils::Segment::to_ [protected] |
The documentation for this class was generated from the following files: