Package org.robwork.sdurw

Class Line2D

java.lang.Object

org.robwork.sdurw.Line2D

public class Line2D
extends java.lang.Object

Describes a line segment in 2D.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Line2D.IntersectResult	definition of intersection result values for the intersection test between two lines.

Constructor Summary

Constructors

Constructor	Description
Line2D()	Constructor
Line2D(double x1, double y1, double x2, double y2)	Creates a line between that intersect the two points (x1,y1) and (x2,y2).
Line2D(long cPtr, boolean cMemoryOwn)
Line2D(Vector2Dd p1, Vector2Dd p2)	Creates a line between that intersect the two points p1 and p2.

Method Summary

Modifier and Type	Method	Description
double	calcAngle()	calculates the angle between the projection of this line onto yz-plane and the x-axis
double	calcAngle(Line2D line)	calculates the angle between this line and line
double	calcDist(Vector2Dd v)	calculates the shortest distance between point v and the infinite line.
Vector2Dd	calcUnitNormal()	calculates the unit normal of the line
void	delete()
static long	getCPtr(Line2D obj)
Line2D.IntersectResult	getIntersect(Line2D line, Vector2Dd res)	calculates the intersection between two lines.
double	getLength()	gets the length of the line segment.
Vector2Dd	p1()	first point on the line
Vector2Dd	p2()	second point on the line

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Line2D

public Line2D(long cPtr,
              boolean cMemoryOwn)

Line2D

public Line2D()

Constructor

Line2D

public Line2D(Vector2Dd p1,
              Vector2Dd p2)

Creates a line between that intersect the two points p1 and p2.

Parameters:

p1 - [in] point

p2 - [in] point

Line2D

public Line2D(double x1,
              double y1,
              double x2,
              double y2)

Creates a line between that intersect the two points (x1,y1) and (x2,y2).

Parameters:

x1 - [in] x coordinate of point 1

y1 - [in] y coordinate of point 1

x2 - [in] x coordinate of point 2

y2 - [in] y coordinate of point 2

Method Detail

getCPtr

public static long getCPtr(Line2D obj)

delete

public void delete()

getIntersect

public Line2D.IntersectResult getIntersect(Line2D line,
                                           Vector2Dd res)

calculates the intersection between two lines. A intersection
point is only saved in res if the two lines are not parallel or coincident.
The intersection test does not take the segments into acount.

Parameters:

line - [in] the line two test against

res - [out] the point of intersection

Returns:

the intersection type

calcAngle

public double calcAngle(Line2D line)

calculates the angle between this line and line

Parameters:

line - [in] a line

Returns:

the angle from this line to line

calcAngle

public double calcAngle()

calculates the angle between the projection of this line onto
yz-plane and the x-axis

Returns:

the angle

calcDist

public double calcDist(Vector2Dd v)

calculates the shortest distance between point v and the infinite
line.

Parameters:

v - [in] Point to which to calculate distance

getLength

public double getLength()

gets the length of the line segment.

Returns:

line segment length

p1

public Vector2Dd p1()

first point on the line

p2

public Vector2Dd p2()

second point on the line

calcUnitNormal

public Vector2Dd calcUnitNormal()

calculates the unit normal of the line