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26 std::array<double, 4>
coefs{{.0, .0, .0, .0}};
82 constexpr
TPlane(
double A,
double B,
double C,
double D) :
coefs{
A, B, C, D}
90 for (
size_t i = 0; i < 4; i++)
coefs[i] = vec[i];
double distance(const TPoint3D &point) const
Distance to 3D point.
Base template for TPoint3D and TPoint3Df.
mrpt::serialization::CArchive & operator<<(mrpt::serialization::CArchive &s, const CVectorFloat &a)
std::array< double, 4 > coefs
Plane coefficients, stored as an array: .
constexpr TPlane(double A, double B, double C, double D)
Constructor from plane coefficients.
mrpt::vision::TStereoCalibResults out
Virtual base class for "archives": classes abstracting I/O streams.
TPoint3D point1
origin point
bool contains(const TPoint3D &point) const
Check whether a point is contained into the plane.
TPlane()=default
Fast default constructor.
#define MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(_TYPE, __NS)
Declares a typename to be "type" (without the NS prefix)
TPoint3D point2
final point
bool contains(const TSegment3D &segment) const
Check whether a segment is fully contained into the plane.
TVector3D getNormalVector() const
Get plane's normal vector.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
3D segment, consisting of two points.
void getAsPose3D(mrpt::math::TPose3D &outPose) const
3D Plane, represented by its equation
TVector3D getUnitaryNormalVector() const
Get normal vector.
double evaluatePoint(const TPoint3D &point) const
Evaluate a point in the plane's equation.
This base provides a set of functions for maths stuff.
3D line, represented by a base point and a director vector.
void unitarize()
Unitarize normal vector.
TPlane(const double(&vec)[4])
Constructor from an array of coefficients.
mrpt::serialization::CArchive & operator>>(mrpt::serialization::CArchive &in, CMatrixD::Ptr &pObj)
void getAsPose3DForcingOrigin(const TPoint3D ¢er, TPose3D &pose) const
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