segment.h
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35 
36 #ifndef JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
37 #define JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
38 
39 #include <iostream>
41 #include "visualization_msgs/Marker.h"
42 
43 namespace jsk_recognition_utils
44 {
45  class Plane;
50  class Segment: public Line
51  {
52  public:
54 
62  Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to);
63 
68  virtual void getEnd(Eigen::Vector3f& output) const;
69  virtual Eigen::Vector3f getEnd() const;
70 
71  virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;
72  virtual double dividingRatio(const Eigen::Vector3f& point) const;
73  virtual double distance(const Eigen::Vector3f& point) const;
74  virtual double distance(const Eigen::Vector3f& point, Eigen::Vector3f& foot_point) const;
75  virtual bool intersect(Plane& plane, Eigen::Vector3f& point) const;
76  virtual void midpoint(Eigen::Vector3f& midpoint) const;
77  //virtual double distance(const Segment& other);
78  friend std::ostream& operator<<(std::ostream& os, const Segment& seg);
79 
87  virtual double distanceWithInfo(const Eigen::Vector3f& from,
88  Eigen::Vector3f& foot_point,
89  double &distance_to_goal) const;
90 
95  virtual Segment::Ptr flipSegment() const;
96 
101  virtual double length() const;
102 
107  void toMarker(visualization_msgs::Marker& marker) const;
108 
113  virtual bool isCross (const Line &ln, double distance_threshold = 1e-5) const;
114  virtual bool isCross (const Segment &ln, double distance_threshold = 1e-5) const;
115 
116  protected:
117  Eigen::Vector3f to_;
118  double length_;
119  private:
120  };
121 }
122 
123 #endif
virtual double distanceWithInfo(const Eigen::Vector3f &from, Eigen::Vector3f &foot_point, double &distance_to_goal) const
compute a distance to a point
Definition: segment.cpp:118
virtual double distance(const Eigen::Vector3f &point) const
Definition: segment.cpp:76
virtual bool intersect(Plane &plane, Eigen::Vector3f &point) const
Definition: segment.cpp:89
Segment(const Eigen::Vector3f &from, const Eigen::Vector3f to)
Construct a line from a start point and a goal point.
Definition: segment.cpp:42
boost::shared_ptr< Segment > Ptr
Definition: segment.h:53
virtual void point(double alpha, Eigen::Vector3f &ouptut)
Compute a point on normal from alpha parameter.
Definition: line.cpp:201
Class to represent 3-D straight line which has finite length.
Definition: segment.h:50
void toMarker(visualization_msgs::Marker &marker) const
make marker message to display the finite line
Definition: segment.cpp:150
virtual Eigen::Vector3f getEnd() const
Definition: segment.cpp:113
virtual void foot(const Eigen::Vector3f &point, Eigen::Vector3f &output) const
compute a point which gives perpendicular projection.
Definition: segment.cpp:60
virtual void midpoint(Eigen::Vector3f &midpoint) const
Definition: segment.cpp:97
virtual double dividingRatio(const Eigen::Vector3f &point) const
Definition: segment.cpp:47
virtual bool isCross(const Line &ln, double distance_threshold=1e-5) const
is crossing with another line
Definition: segment.cpp:174
friend std::ostream & operator<<(std::ostream &os, const Segment &seg)
Definition: segment.cpp:102
virtual Segment::Ptr flipSegment() const
return flipped line (line of opposite direction)
Definition: segment.cpp:139
virtual double length() const
return length of the line
Definition: segment.cpp:145
Class to represent 3-D straight line.
Definition: line.h:49


jsk_recognition_utils
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autogenerated on Wed May 27 2020 03:59:48