Functions
void	flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const geometry_msgs::Point32 &point, const geometry_msgs::PointStamped &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const geometry_msgs::Point32 &point, const geometry_msgs::Point &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const geometry_msgs::Point32 &point, const geometry_msgs::Point32 &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	flipNormalTowardsViewpoint (std::vector< double > &normal, const geometry_msgs::Point32 &point, const geometry_msgs::PointStamped &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	flipNormalTowardsViewpoint (std::vector< double > &normal, const geometry_msgs::Point32 &point, const geometry_msgs::Point32 &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
double	getAngle2D (const double point[2])
	Compute the angle in the [ 0, 2*PI ) interval of a point (direction) with a reference (0, 0) in 2D.
double	getAngle2D (double x, double y)
	Compute the angle in the [ 0, 2*PI ) interval of a point (direction) with a reference (0, 0) in 2D.
double	getAngle3D (const geometry_msgs::Point32 &v1, const geometry_msgs::Point32 &v2)
	Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
double	getAngle3D (const geometry_msgs::Point &v1, const geometry_msgs::Point &v2)
	Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
double	getAngle3D (const geometry_msgs::Point32 &v1, const geometry_msgs::Point &v2)
	Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
double	getAngle3D (const geometry_msgs::Point &v1, const geometry_msgs::Point32 &v2)
	Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
double	getAngleBetweenPlanes (const std::vector< double > &plane_a, const std::vector< double > &plane_b)
	Get the angle between two planes.
double	getAngleBetweenPlanes (const geometry_msgs::Point32 &plane_a, const geometry_msgs::Point32 &plane_b)
	Get the angle between two planes.
double	getAngleBetweenPlanes (const geometry_msgs::Point32 &plane_a, const std::vector< double > &plane_b)
	Get the angle between two planes.
double	getAngleBetweenPlanes (const std::vector< double > &plane_a, const geometry_msgs::Point32 &plane_b)
	Get the angle between two planes.

Function Documentation

void cloud_geometry::angles::flipNormalTowardsViewpoint	(	Eigen::Vector4d &	normal,
		const geometry_msgs::Point32 &	point,
		const geometry_msgs::PointStamped &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 234 of file angles.h.

void cloud_geometry::angles::flipNormalTowardsViewpoint	(	Eigen::Vector4d &	normal,
		const geometry_msgs::Point32 &	point,
		const geometry_msgs::Point &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 262 of file angles.h.

void cloud_geometry::angles::flipNormalTowardsViewpoint	(	Eigen::Vector4d &	normal,
		const geometry_msgs::Point32 &	point,
		const geometry_msgs::Point32 &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 290 of file angles.h.

void cloud_geometry::angles::flipNormalTowardsViewpoint	(	std::vector< double > &	normal,
		const geometry_msgs::Point32 &	point,
		const geometry_msgs::PointStamped &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 318 of file angles.h.

void cloud_geometry::angles::flipNormalTowardsViewpoint	(	std::vector< double > &	normal,
		const geometry_msgs::Point32 &	point,
		const geometry_msgs::Point32 &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 346 of file angles.h.

double cloud_geometry::angles::getAngle2D ( const double point[2] ) [inline]

Compute the angle in the [ 0, 2*PI ) interval of a point (direction) with a reference (0, 0) in 2D.

Parameters:

point a 2D point

Definition at line 102 of file angles.h.

double cloud_geometry::angles::getAngle2D	(	double	x,
		double	y
	)		`[inline]`

Compute the angle in the [ 0, 2*PI ) interval of a point (direction) with a reference (0, 0) in 2D.

Parameters:

x	the X coordinate of the 2D point
y	the Y coordinate of the 2D point

Definition at line 125 of file angles.h.

double cloud_geometry::angles::getAngle3D	(	const geometry_msgs::Point32 &	v1,
		const geometry_msgs::Point32 &	v2
	)		`[inline]`

Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.

Parameters:

v1	the first 3D vector
v2	the second 3D vector

Definition at line 148 of file angles.h.

double cloud_geometry::angles::getAngle3D	(	const geometry_msgs::Point &	v1,
		const geometry_msgs::Point &	v2
	)		`[inline]`

Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.

Parameters:

v1	the first 3D vector
v2	the second 3D vector

Definition at line 169 of file angles.h.

double cloud_geometry::angles::getAngle3D	(	const geometry_msgs::Point32 &	v1,
		const geometry_msgs::Point &	v2
	)		`[inline]`

Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.

Parameters:

v1	the first 3D vector
v2	the second 3D vector

Definition at line 190 of file angles.h.

double cloud_geometry::angles::getAngle3D	(	const geometry_msgs::Point &	v1,
		const geometry_msgs::Point32 &	v2
	)		`[inline]`

Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.

Parameters:

v1	the first 3D vector
v2	the second 3D vector

Definition at line 211 of file angles.h.

double cloud_geometry::angles::getAngleBetweenPlanes	(	const std::vector< double > &	plane_a,
		const std::vector< double > &	plane_b
	)		`[inline]`

Get the angle between two planes.

Parameters:

plane_a	the normalized coefficients of the first plane
plane_b	the normalized coefficients of the second plane

Definition at line 59 of file angles.h.

double cloud_geometry::angles::getAngleBetweenPlanes	(	const geometry_msgs::Point32 &	plane_a,
		const geometry_msgs::Point32 &	plane_b
	)		`[inline]`

Get the angle between two planes.

Parameters:

plane_a	the normalized coefficients of the first plane
plane_b	the normalized coefficients of the second plane

Definition at line 70 of file angles.h.

double cloud_geometry::angles::getAngleBetweenPlanes	(	const geometry_msgs::Point32 &	plane_a,
		const std::vector< double > &	plane_b
	)		`[inline]`

Get the angle between two planes.

Parameters:

plane_a	the normalized coefficients of the first plane
plane_b	the normalized coefficients of the second plane

Definition at line 81 of file angles.h.

double cloud_geometry::angles::getAngleBetweenPlanes	(	const std::vector< double > &	plane_a,
		const geometry_msgs::Point32 &	plane_b
	)		`[inline]`

Get the angle between two planes.

Parameters:

plane_a	the normalized coefficients of the first plane
plane_b	the normalized coefficients of the second plane

Definition at line 92 of file angles.h.

Functions

Function Documentation