plane primitive represented in Hessian normal-form: a*nx+b*ny+c*nz+d=0 More...

#include <Plane.hpp>

Public Types
typedef rw::core::Ptr< Plane >	Ptr
	Smart pointer to Plane.

typedef double	value_type
	The value type for a plane (double precision).

Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.

Public Types inherited from GeometryData
enum	GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType }
	geometry data types

typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	Plane ()
	Constructor. More...

	Plane (const rw::math::Q &q)
	constructor More...

	Plane (const rw::math::Vector3D< double > &n, const double d)
	constructor More...

	Plane (const rw::math::Vector3D< double > &p1, const rw::math::Vector3D< double > &p2, const rw::math::Vector3D< double > &p3)
	constructor - calculates the plane from 3 vertices More...

virtual	~Plane ()
	destructor

rw::math::Vector3D< double > &	normal ()
	get plane normal

const rw::math::Vector3D< double > &	normal () const
	get plane normal

double &	d ()
	get distance to {0,0,0} from plane along normal.

double	d () const
	get distance to {0,0,0} from plane along normal.

double	distance (const rw::math::Vector3D< double > &point) const
	Calculates the shortest distance from point to plane. More...

double	distance (const Plane &plane) const
	Default metric for computing the difference between 2 planes. More...

double	refit (const std::vector< rw::math::Vector3D< double >> &data)
	Fit this plane to a set of points. More...

rw::math::Vector3D< double >	intersection (const rw::math::Vector3D< double > &p1, const rw::math::Vector3D< double > &p2) const
	Calculates the intersection between the line and plane. More...

TriMesh::Ptr	createMesh (int resolution) const
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...

TriMesh::Ptr	createMesh (int resolution, double size) const
	Create a triangle mesh representing the plane. More...

virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...

virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...

GeometryType	getType () const
	the type of this primitive More...

Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor

TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...

virtual bool	isConvex ()
	test if this geometry data is convex More...

bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive

Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Static Public Member Functions
static rw::math::Metric< Plane >::Ptr	makeMetric (double angToDistWeight=1.0)
	Create a metric that can be used to compare distance between two planes. The distance between two planes is computed as follows: More...

Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Protected Member Functions
bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...

Protected Member Functions inherited from Primitive
	Primitive (int levels=20)
	Constructor. More...

Friends
std::ostream &	operator<< (std::ostream &out, const Plane &p)
	Streaming operator.

Detailed Description

plane primitive represented in Hessian normal-form: a*nx+b*ny+c*nz+d=0

Constructor & Destructor Documentation

◆ Plane() [1/4]

Plane ( )

inline

Constructor.

Makes a plane on X-Y surface.

◆ Plane() [2/4]

Plane ( const rw::math::Q & q )

inline

constructor

Parameters

q

◆ Plane() [3/4]

Plane	(	const rw::math::Vector3D< double > &	n,
		const double	d
	)

inline

constructor

Parameters

n	[in] normal of plane
d	[in] distance from plane to (0,0,0) in direction of normal

◆ Plane() [4/4]

Plane	(	const rw::math::Vector3D< double > &	p1,
		const rw::math::Vector3D< double > &	p2,
		const rw::math::Vector3D< double > &	p3
	)

inline

constructor - calculates the plane from 3 vertices

Parameters

p1	[in] vertice 1
p2	[in] vertice 2
p3	[in] vertice 3

Member Function Documentation

◆ createMesh() [1/2]

TriMesh::Ptr createMesh ( int resolution ) const

virtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution [in]

Implements Primitive.

◆ createMesh() [2/2]

TriMesh::Ptr createMesh	(	int	resolution,
		double	size
	)		const

Create a triangle mesh representing the plane.

Provides the posibility to specify the size of the plan.

Parameters

resolution	[in] Resolution of the mesh (not applicable for a plane)
size	[in] Size of the plane.

◆ distance() [1/2]

double distance ( const Plane & plane ) const

inline

Default metric for computing the difference between 2 planes.

Parameters

plane [in]

◆ distance() [2/2]

double distance ( const rw::math::Vector3D< double > & point ) const

inline

Calculates the shortest distance from point to plane.

The distance includes the sign s.t. a negative distance corresponds to point being behind the plane and a positive distance in front of the plane.

Parameters

point

◆ doIsInside()

bool doIsInside ( const rw::math::Vector3D< double > & point )

inlineprotectedvirtual

Check if point lies inside geometry.

Parameters

point [in] point to check.

Returns: true if inside geometry, false otherwise.

Reimplemented from Primitive.

◆ getParameters()

virtual rw::math::Q getParameters ( ) const

virtual

get the parameters that define this primitive

Implements Primitive.

◆ getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

◆ intersection()

rw::math::Vector3D<double> intersection	(	const rw::math::Vector3D< double > &	p1,
		const rw::math::Vector3D< double > &	p2
	)		const

Calculates the intersection between the line and plane.

The line defined by p1 and p2 is considered infinitely long. Throws a rw::core::Exception if the line is parallel to the plane.

Parameters

p1	[in] point 1 on the line
p2	[in] point 2 on the line

◆ makeMetric()

static rw::math::Metric<Plane>::Ptr makeMetric ( double angToDistWeight = 1.0 )

static

Create a metric that can be used to compare distance between two planes. The distance between two planes is computed as follows:

val = 0.5*angle(p1.normal, p2.normal)*angToDistWeight + 0.5*fabs(p1.d-p2.d);

Returns: distance metric

◆ refit()

double refit ( const std::vector< rw::math::Vector3D< double >> & data )

Fit this plane to a set of points.

A PCA analysis of the points are made and the two axes with largest extends are used for defining the plane. The error is the sum of the squared mean of the points to the plane.

The plane normal always points in the positive z-direction.

Parameters

data	[in] a set of points

Returns: fitting error

◆ setParameters()

virtual void setParameters ( const rw::math::Q & q )

virtual

set the parameters that define this primitive

Implements Primitive.

The documentation for this class was generated from the following file:

Plane.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Plane() [1/4]

◆ Plane() [2/4]

◆ Plane() [3/4]

◆ Plane() [4/4]

Member Function Documentation

◆ createMesh() [1/2]

◆ createMesh() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]

◆ doIsInside()

◆ getParameters()

◆ getType()

◆ intersection()

◆ makeMetric()

◆ refit()

◆ setParameters()