mf::plane Struct Reference

Oriented plane in 3D space. More...

#include <plane.h>

Public Member Functions
	plane ()=default
	plane (const plane &)=default
	plane (const pose &)
	plane (float a, float b, float c, float d)
	plane (const Eigen::Vector3f &p, const Eigen::Vector3f &n)
	plane (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
void	normalize ()
	Normalize the plane representation. More...
Eigen::Vector3f	project (const Eigen::Vector3f &) const
Eigen::Vector3f	origin () const
pose	to_pose () const
	operator Eigen::Hyperplane< float, 3 > () const
void	apply_transformation (const Eigen::Affine3f &)
std::string	to_string () const

Static Public Member Functions
static plane	from_string (const std::string &)

Public Attributes
Eigen::Vector3f	normal = Eigen::Vector3f::Zero()
float	distance = 0

Detailed Description

Oriented plane in 3D space.

Represented using normal vector and distance value. That is the values (a, b, c, d) in the plane equation ax + by + cz = d. When normalized, representations are unique and distance is from origin to plane.

Constructor & Destructor Documentation

mf::plane::plane ( )

default

mf::plane::plane ( const plane &  )

default

mf::plane::plane ( const pose &  ps )

explicit

mf::plane::plane	(	float	a,
		float	b,
		float	c,
		float	d
	)

Create from coefficients. Creates plane for equation ax + by + cz = d. Resulting plane is normalized.

mf::plane::plane	(	const Eigen::Vector3f &	p,
		const Eigen::Vector3f &	n
	)

Create from any point on plane and normal vector. Normal vector does not need to be normalized. Resulting plane is normalized.

mf::plane::plane	(	const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3
	)

Create any three points on the plane. Resulting plane is normalized. Points must not be aligned or coincide.

Member Function Documentation

void mf::plane::apply_transformation

(

const Eigen::Affine3f &

t

)

plane mf::plane::from_string ( const std::string &  str )

static

void mf::plane::normalize

(

)

Normalize the plane representation.

mf::plane::operator Eigen::Hyperplane< float, 3 >

(

)

const

Eigen::Vector3f mf::plane::origin

(

)

const

Eigen::Vector3f mf::plane::project

(

const Eigen::Vector3f &

p

)

const

Project point on plane. Result is the point on plane that is closest to the given point.

pose mf::plane::to_pose

(

)

const

std::string mf::plane::to_string

(

)

const

Member Data Documentation

float mf::plane::distance = 0

Eigen::Vector3f mf::plane::normal = Eigen::Vector3f::Zero()

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The documentation for this struct was generated from the following files:

• src/geometry/plane.h
• src/geometry/plane.cc