Functions
void	createParallel2DLine (const std::vector< double > &line_a, std::vector< double > &line_b, double distance)
	Creates a parallel 2D line at a given distance in an X-Y plane (Z is ignored)
void	lineToLineSegment (const std::vector< double > &line_a, const std::vector< double > &line_b, std::vector< double > &segment)
	Get the shortest 3D segment between two 3D lines.
double	pointToLineDistance (const geometry_msgs::Point32 &p, const geometry_msgs::Point32 &q, const geometry_msgs::Point32 &dir)
	Get the distance from a point to a line (represented by a point and a direction)
double	pointToLineDistance (const geometry_msgs::Point32 &p, const std::vector< double > &line_coefficients)
	Get the distance from a point to a line (represented by a point and a direction)
double	pointToPlaneDistance (const geometry_msgs::Point32 &p, const std::vector< double > &plane_coefficients)
	Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.
double	pointToPlaneDistance (const geometry_msgs::Point32 &p, double a, double b, double c, double d)
	Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.
double	pointToPlaneDistance (const geometry_msgs::Point32 &p, const Eigen::Vector4d &plane_coefficients)
	Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.
double	pointToPlaneDistanceSigned (const geometry_msgs::Point32 &p, const std::vector< double > &plane_coefficients)
	Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.
double	pointToPlaneDistanceSigned (const geometry_msgs::Point32 &p, double a, double b, double c, double d)
	Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.
double	pointToPlaneDistanceSigned (const geometry_msgs::Point32 &p, const Eigen::Vector4d &plane_coefficients)
	Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.
double	pointToPointDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the distance from a 3D point to another 3D point.
double	pointToPointDistance (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Get the distance from a 3D point to another 3D point.
double	pointToPointDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point &p2)
	Get the distance from a 3D point to another 3D point.
double	pointToPointDistance (const geometry_msgs::Point &p1, const geometry_msgs::Point32 &p2)
	Get the distance from a 3D point to another 3D point.
double	pointToPointDistanceSqr (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the squared distance from a 3D point to another 3D point.
double	pointToPointDistanceSqr (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Get the squared distance from a 3D point to another 3D point.
double	pointToPointDistanceSqr (const geometry_msgs::Point32 &p1, const geometry_msgs::Point &p2)
	Get the squared distance from a 3D point to another 3D point.
double	pointToPointDistanceSqr (const geometry_msgs::Point &p1, const geometry_msgs::Point32 &p2)
	Get the squared distance from a 3D point to another 3D point.
double	pointToPointXYDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the distance from a 2D point to another 2D point in the XY plane.
double	pointToPointXYDistanceSqr (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the squared distance from a 2D point to another 2D point in the XY plane.
double	pointToPointXZDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the distance from a 2D point to another 2D point in the XZ plane.
double	pointToPointXZDistanceSqr (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the squared distance from a 2D point to another 2D point in the XZ plane.
double	pointToPointYZDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the distance from a 2D point to another 2D point in the YZ plane.
double	pointToPointYZDistanceSqr (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Get the squared distance from a 2D point to another 2D point in the YZ plane.
double	pointToPolygonDistance (const geometry_msgs::Point32 &p, const geometry_msgs::Polygon &poly)
	Get the distance from a point to a 3D Polygon.
double	pointToPolygonDistanceSqr (const geometry_msgs::Point32 &p, const geometry_msgs::Polygon &poly)
	Get the squared distance from a point to a 3D Polygon.
double	pointToSphereDistance (const geometry_msgs::Point32 &p, const std::vector< double > &sphere_coefficients)
	Get the distance from a point to a sphere.
double	pointToSphereDistance (const geometry_msgs::Point32 &p, double x, double y, double z, double r)
	Get the distance from a point to a sphere.

Function Documentation

void cloud_geometry::distances::createParallel2DLine	(	const std::vector< double > &	line_a,
		std::vector< double > &	line_b,
		double	distance
	)		`[inline]`

Creates a parallel 2D line at a given distance in an X-Y plane (Z is ignored)

Parameters:

line_a	the 3D coefficients of the input line (point, direction)
line_b	the 3D coefficients of the resultant parallel line (point, direction), with point.z copied and direction.z = 0
distance	the desired distance between the lines

Definition at line 310 of file distances.h.

void cloud_geometry::distances::lineToLineSegment	(	const std::vector< double > &	line_a,
		const std::vector< double > &	line_b,
		std::vector< double > &	segment
	)

Get the shortest 3D segment between two 3D lines.

Parameters:

line_a	the coefficients of the first line (point, direction)
line_b	the coefficients of the second line (point, direction)
segment	the resulting two 3D points that mark the beginning and the end of the segment

Definition at line 99 of file distances.cpp.

double cloud_geometry::distances::pointToLineDistance	(	const geometry_msgs::Point32 &	p,
		const geometry_msgs::Point32 &	q,
		const geometry_msgs::Point32 &	dir
	)

Get the distance from a point to a line (represented by a point and a direction)

Parameters:

p	a point
q	the point on the line
dir	the direction of the line

Definition at line 48 of file distances.cpp.

double cloud_geometry::distances::pointToLineDistance	(	const geometry_msgs::Point32 &	p,
		const std::vector< double > &	line_coefficients
	)

Get the distance from a point to a line (represented by a point and a direction)

Parameters:

p	a point
line_coefficients	the line coefficients (point.x point.y point.z direction.x direction.y direction.z)

Definition at line 71 of file distances.cpp.

double cloud_geometry::distances::pointToPlaneDistance	(	const geometry_msgs::Point32 &	p,
		const std::vector< double > &	plane_coefficients
	)		`[inline]`

Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.

Parameters:

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 243 of file distances.h.

double cloud_geometry::distances::pointToPlaneDistance	(	const geometry_msgs::Point32 &	p,
		double	a,
		double	b,
		double	c,
		double	d
	)		`[inline]`

Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.

Parameters:

p	a point
a	the normalized a coefficient of a plane
b	the normalized b coefficient of a plane
c	the normalized c coefficient of a plane
d	the normalized d coefficient of a plane

Definition at line 256 of file distances.h.

double cloud_geometry::distances::pointToPlaneDistance	(	const geometry_msgs::Point32 &	p,
		const Eigen::Vector4d &	plane_coefficients
	)		`[inline]`

Get the distance from a point to a plane (unsigned) defined by ax+by+cz+d=0.

Parameters:

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 266 of file distances.h.

double cloud_geometry::distances::pointToPlaneDistanceSigned	(	const geometry_msgs::Point32 &	p,
		const std::vector< double > &	plane_coefficients
	)		`[inline]`

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters:

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 209 of file distances.h.

double cloud_geometry::distances::pointToPlaneDistanceSigned	(	const geometry_msgs::Point32 &	p,
		double	a,
		double	b,
		double	c,
		double	d
	)		`[inline]`

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters:

p	a point
a	the normalized a coefficient of a plane
b	the normalized b coefficient of a plane
c	the normalized c coefficient of a plane
d	the normalized d coefficient of a plane

Definition at line 222 of file distances.h.

double cloud_geometry::distances::pointToPlaneDistanceSigned	(	const geometry_msgs::Point32 &	p,
		const Eigen::Vector4d &	plane_coefficients
	)		`[inline]`

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters:

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 232 of file distances.h.

double cloud_geometry::distances::pointToPointDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 129 of file distances.h.

double cloud_geometry::distances::pointToPointDistance	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2
	)		`[inline]`

Get the distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 151 of file distances.h.

double cloud_geometry::distances::pointToPointDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point &	p2
	)		`[inline]`

Get the distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 173 of file distances.h.

double cloud_geometry::distances::pointToPointDistance	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 195 of file distances.h.

double cloud_geometry::distances::pointToPointDistanceSqr	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the squared distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 118 of file distances.h.

double cloud_geometry::distances::pointToPointDistanceSqr	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2
	)		`[inline]`

Get the squared distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 140 of file distances.h.

double cloud_geometry::distances::pointToPointDistanceSqr	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point &	p2
	)		`[inline]`

Get the squared distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 162 of file distances.h.

double cloud_geometry::distances::pointToPointDistanceSqr	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the squared distance from a 3D point to another 3D point.

Parameters:

p1	the first point
p2	the second point

Definition at line 184 of file distances.h.

double cloud_geometry::distances::pointToPointXYDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the distance from a 2D point to another 2D point in the XY plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 63 of file distances.h.

double cloud_geometry::distances::pointToPointXYDistanceSqr	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the squared distance from a 2D point to another 2D point in the XY plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 52 of file distances.h.

double cloud_geometry::distances::pointToPointXZDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the distance from a 2D point to another 2D point in the XZ plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 85 of file distances.h.

double cloud_geometry::distances::pointToPointXZDistanceSqr	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the squared distance from a 2D point to another 2D point in the XZ plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 74 of file distances.h.

double cloud_geometry::distances::pointToPointYZDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the distance from a 2D point to another 2D point in the YZ plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 107 of file distances.h.

double cloud_geometry::distances::pointToPointYZDistanceSqr	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		`[inline]`

Get the squared distance from a 2D point to another 2D point in the YZ plane.

Parameters:

p1	the first point
p2	the second point

Definition at line 96 of file distances.h.

double cloud_geometry::distances::pointToPolygonDistance	(	const geometry_msgs::Point32 &	p,
		const geometry_msgs::Polygon &	poly
	)		`[inline]`

Get the distance from a point to a 3D Polygon.

Parameters:

p	a point
poly	the polygon

Definition at line 386 of file distances.h.

double cloud_geometry::distances::pointToPolygonDistanceSqr	(	const geometry_msgs::Point32 &	p,
		const geometry_msgs::Polygon &	poly
	)		`[inline]`

Get the squared distance from a point to a 3D Polygon.

Parameters:

p	a point
poly	the polygon

Definition at line 335 of file distances.h.

double cloud_geometry::distances::pointToSphereDistance	(	const geometry_msgs::Point32 &	p,
		const std::vector< double > &	sphere_coefficients
	)		`[inline]`

Get the distance from a point to a sphere.

Parameters:

p	a point
sphere_coefficients	the coefficients (x, y, z, R) of a sphere

Definition at line 277 of file distances.h.

double cloud_geometry::distances::pointToSphereDistance	(	const geometry_msgs::Point32 &	p,
		double	x,
		double	y,
		double	z,
		double	r
	)		`[inline]`

Get the distance from a point to a sphere.

Parameters:

p	a point
x	the x center coefficient of a sphere
y	the y center coefficient of a sphere
z	the z center coefficient of a sphere
R	the radius coefficient of a sphere

Definition at line 294 of file distances.h.

Functions

Function Documentation