Struct TPlane

Defined in File TPlane.h

Struct Documentation

struct TPlane

3D Plane, represented by its equation \(Ax+By+Cz+D=0\)

See also

TSegment3D,TLine3D,TPolygon3D,TPoint3D

Public Functions

TPlane() = default: Fast default constructor (uninitialized coefficients).

inline constexpr TPlane(double A, double B, double C, double D): Constructor from plane coefficients

inline TPlane(const double (&vec)[4]): Constructor from an array of coefficients (A,B,C,D).

TPlane(const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)

Defines a plane which contains these three points.

See also

mrpt::math::getRegressionPlane()

Throws:: std::logic_error – if the points are linearly dependants.

TPlane(const TPoint3D &p1, const TVector3D &normal)

Defines a plane given a point and a normal vector (must not be unit).

Throws:: std::logic_error – if the normal vector is null

TPlane(const TPoint3D &p1, const TLine3D &r2)

Defines a plane which contains this point and this line.

Throws:: std::logic_error – if the point is inside the line.

TPlane(const TLine3D &r1, const TLine3D &r2)

Defines a plane which contains the two lines.

Throws:: std::logic_error – if the lines do not cross.

double evaluatePoint(const TPoint3D &point) const: Evaluate a point in the plane’s equation

bool contains(const TPoint3D &point) const: Check whether a point is contained into the plane.

inline bool contains(const TSegment3D &segment) const: Check whether a segment is fully contained into the plane.

bool contains(const TLine3D &line) const: Check whether a line is fully contained into the plane.

double distance(const TPoint3D &point) const: Absolute distance to 3D point

double signedDistance(const TPoint3D &point) const: Signed distance (positive on the normal vector side) to 3D point.

Note

(New in MRPT 2.4.9)

double distance(const TLine3D &line) const: Distance to 3D line. Will be zero if the line is not parallel to the plane.

TVector3D getNormalVector() const: Get plane’s normal vector

void unitarize(): Unitarize normal vector.

void getAsPose3D(mrpt::math::TPose3D &outPose) const

void getAsPose3DForcingOrigin(const TPoint3D &center, TPose3D &pose) const

TPose3D getAsPose3DForcingOrigin(const TPoint3D &center) const

TVector3D getUnitaryNormalVector() const: Get normal vector

std::string asString() const: Returns “[A, B, C, D]”

Note

[New in MRPT 2.1.0]

Public Members

std::array<double, 4> coefs{{.0, .0, .0, .0}}: Plane coefficients, stored as an array: \(\left[A,B,C,D\right]\)

Public Static Functions

static inline TPlane From3Points(const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)

See also

mrpt::math::getRegressionPlane()

Note

[New in MRPT 2.1.0]

static inline TPlane FromPointAndNormal(const TPoint3D &p1, const TVector3D &normal): Note

[New in MRPT 2.1.0]

static inline TPlane FromPointAndLine(const TPoint3D &p1, const TLine3D &r)

Defines a plane which contains this point and this line.

Note

[New in MRPT 2.1.0]

Throws:: std::logic_error – if the point is inside the line.

static inline TPlane FromTwoLines(const TLine3D &r1, const TLine3D &r2)

Defines a plane which contains the two lines.

Throws:: std::logic_error – if the lines do not cross.