AURobotServers: UOriPlane Class Reference

AURobotServers 4

#include <u3d.h>

Public Member Functions
void	clear ()

UPosition	getRobToWorld (UPosition pos)

void	norm ()

void	print (const char *prestring)

void	set (UPosition pos, URotation rot)

	UOriPlane ()

	~UOriPlane ()

Protected Attributes
UPosition	poso

UPosition	posx

UPosition	posy

Detailed Description

An oriented plane in 3D space. The plane spans the x-y axis, and its primary orientation (up) is the y-axis. The definition of the oriented plane is the position of the origo and a point on the x and y (in-plane) coordinates. The class holds functions to convert to and from a position-rotation type specification, and to to and from the plane coordinate specification. This could be used as a camera image plane, and the corresponding 3D coordinate system as the camera coordinates.

Constructor & Destructor Documentation

UOriPlane::UOriPlane ( )

Default constructor

References URotation::clear().

UOriPlane::~UOriPlane ( )

destructor

Member Function Documentation

void UOriPlane::clear ( void )

Set to valid plane in origo

UPosition UOriPlane::getRobToWorld ( UPosition pos )

Get world coordinates of a position in plane coordinates

void UOriPlane::norm ( )

Ensure vectors are unit vectors

void UOriPlane::print ( const char * prestring )

Print to console the position of the plane

References UPosition::cross(), and UPosition::print().

Referenced by testOriPlane(), and testPlane().

void UOriPlane::set	(	UPosition	pos,
		URotation	rot
	)

Set plane from position and rotation

References URotation::asMatrix4x4RtoM(), URotation::clear(), and UPosition::transferred().

Referenced by testOriPlane(), and testPlane().

Member Data Documentation

UPosition UOriPlane::poso

protected

origo position - default (0.0, 0.0, 0.0)

UPosition UOriPlane::posx

protected

A position on the x-axis Default (1.0, 0.0, 0.0)

UPosition UOriPlane::posy

protected

A position on the y-axis Default (1.0, 0.0, 0.0)

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