#include <u2dline.h>

Inheritance diagram for U2Dlined:

Public Member Functions
double	A ()

double	B ()

double	C ()

double	distanceSigned (const double x, const double y)

bool	fit (double fx[], double fy[], int count, double *V=NULL)

bool	fitV (double fx[], double fy[], int count, double *V)

void	getARLine (double a, double r)

bool	getCrossing (U2Dlined L2, double x, double y)

void	getOnLine (const double x, const double y, double lx, double ly)

void	getPV (double Px, double Py, double Vx, double Vy)

double	heading ()

void	print (const char *prestring)

int	set (const double A, const double B, const double C)

int	set (double fx[], double fy[], int count, double *V=NULL)

int	set2P (const double x1, const double y1, const double x2, const double y2)

void	setAR (const double a, const double r)

int	setPH (const double Px, const double Py, const double h)

int	setPV (const double Px, const double Py, const double Vx, const double Vy)

bool	setXline (double sX, double sY, double sX2, double sXY, int count)

bool	setYline (double sX, double sY, double sY2, double sXY, int count)

virtual void	shiftLeft (double dist)

virtual void	shiftRight (double dist)

	U2Dlined ()

	U2Dlined (const double A, const double B, const double C)

	U2Dlined (const double a, const double r)

	U2Dlined (const double x1, const double y1, const double x2, const double y2)

double	variance (double fx[], double fy[], int count, double *E=NULL)

double	vx ()

double	vy ()

virtual	~U2Dlined ()

Protected Attributes
double	lA

double	lB

double	lC

Detailed Description

This is a 2D line with parameters in double precition based on line equation Ax + By + C = 0.
sqr(A) + sqr(B) is always 1.0. and should be kept that way to simplify some calculations.

Constructor & Destructor Documentation

U2Dlined::U2Dlined ( )

Constructor (A=1.0, B=0.0, C=0.0 line

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

U2Dlined::U2Dlined	(	const double	A,
		const double	B,
		const double	C
	)

inline

Construct from A, B, C)

References U2Dline::A(), U2Dline::B(), and U2Dline::C().

U2Dlined::U2Dlined	(	const double	a,
		const double	r
	)

inline

Construct from A, B, C)

U2Dlined::U2Dlined	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2
	)

inline

Construct from 2 points

References U2Dline::set2P().

virtual U2Dlined::~U2Dlined ( )

inlinevirtual

Destructor

Member Function Documentation

double U2Dlined::A ( )

inline

Get A parameter in Ax + By + C = 0

References U2Dline::lA.

Referenced by getCrossing(), UResAuEf::initializeWalls(), and UResAuEf::updateWalls().

double U2Dlined::B ( )

inline

Get B parameter in Ax + By + C = 0

References U2Dline::lB.

Referenced by getCrossing(), UResAuEf::initializeWalls(), and UResAuEf::updateWalls().

double U2Dlined::C ( )

inline

Get C parameter in Ax + By + C = 0

References U2Dline::lC.

Referenced by getCrossing(), and UResAuEf::updateWalls().

double U2Dlined::distanceSigned	(	const double	x,
		const double	y
	)

inline

Returns distance from point to line. To the left in vector p1->p2 direction (if set from points or point-vector), the distance will be positive.

References U2Dline::getCrossing(), U2Dline::getOnLine(), U2Dline::lA, U2Dline::lB, U2Dline::lC, and U2Dline::print().

Referenced by UAvoidPath2::avoidToTheLeft(), UPolygon::cut(), UPolygon::cutPoints(), UAvoidPath2::expandPolyToSegment(), UAvoidCellGraph::findCell(), UAvoidCellGraph::findCellPointPath(), UPose2pose::get2line(), UPose2pose::get2lineStartLeft(), UPolygon::getDistance(), UManSeq::getDistanceFromEndPoseLine(), ULineSegment::getDistanceXYSigned(), UPolygon::getMostDistantVertexXY(), UPolygon::getMostDistantXY(), UAvoidObst::getTangentVertexFrom(), ULine::getXYsignedDistance(), UPolygon::isInsideConvex(), UResRuleState::methodCallV(), UAvoidPath2::splitObstGroup(), test2Dseg(), UAvoidPoint::tPointVisible(), and UAvoidPath2::turnCentreCrossing().

bool U2Dlined::fit	(	double	fx[],
		double	fy[],
		int	count,
		double *	V = `NULL`
	)

Set as best fit line through a series of points. if V != NULL then the variance is returned here

References a, absd(), U2Dline::lA, U2Dline::lB, U2Dline::lC, sqr(), and U2Dline::variance().

Referenced by UResPoseHist::getPoseFitAtDistance(), and test2DlineFit().

bool U2Dlined::fitV	(	double	fx[],
		double	fy[],
		int	count,
		double *	V
	)

References a, absd(), U2Dline::lA, U2Dline::lB, U2Dline::lC, sqr(), and U2Dline::variance().

Referenced by test2DlineFit().

void U2Dlined::getARLine	(	double *	a,
		double *	r
	)

inline

Get line described as alpha,r, where r is distance to line from origo and alpha is the angle to the thpoint on the line closest to the origo.

Parameters

a	is where the alpha angle is returned.
r	is where the distance to the line is returned

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

Referenced by UFuncLoca2::correlateLines().

bool U2Dlined::getCrossing	(	U2Dlined	L2,
		double *	x,
		double *	y
	)

Find crossing between this line and line L2. Returns the result in x and y if the lines are not parallel.

Parameters

line2	is the other line
x,y	is the crossing point, unchanged if not crossing.

Returns: false if lines are parallel.

References U2Dline::A(), A(), U2Dline::B(), B(), U2Dline::C(), and C().

Referenced by UPolygon::cut(), UPolygon::cutPoints(), UAvoidCellGraph::findCellPointPath(), UManArc::getFoodprintPolygon(), UManLine::getMinDistanceXYSigned(), ULine::getXYCrossing(), and UResAuEf::updateWalls().

void U2Dlined::getOnLine	(	const double	x,
		const double	y,
		double *	lx,
		double *	ly
	)

Get nearest point on line to this point. Found by minimizing distance
$d = \sqrt{(x_l - x)^2+(y_l - y)^2}$ .
where $(x_l, y_l)$ is point on line expressed by parameter t.
$ [x_l,y_l] = [P_x,P_y] + [V_x,V_y] * t $ . Insert into first equation.
$ d^2 = (P_x + V_x * t - x)^2 + (P_y + V_y * t - y)^2 $ .
find $\frac{d d^2}{dt} = 0$ gives
$ t = (-P_x * V_x + V_x * x - P_y * V_y + V_y * y)/((V_x^2 + V_y^2) $ . Denominator is equal to 1.0 and can be ignored. Setting t into point-vector line expression gives nearest (lx,ly) point on line. Px, Py, Vx, Vy can then be replaced by A,B,C to simplify expression.

Parameters

x,y	is the input x,y position
lx,ly	is the found position on the line.

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

Referenced by UResPoseHist::getPoseFitAtDistance(), UResSmrCtl::getSMRCLDrive2cmd(), and UResLocater::makeRowPolygon().

void U2Dlined::getPV	(	double *	Px,
		double *	Py,
		double *	Vx,
		double *	Vy
	)

Get line as in position - vector format on the form [x,y] = [Px,Py] + [Vx,Vy]*t Either Px or Py will be zero.

References absf(), U2Dline::lA, U2Dline::lB, and U2Dline::lC.

double U2Dlined::heading ( )

inline

Get line heading in radians

References U2Dline::getPV(), U2Dline::lA, U2Dline::lB, and U2Dline::setPV().

Referenced by U2Dseg::heading().

void U2Dlined::print ( const char * prestring )

Print A, B, C to console

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

Referenced by test2DlineFit().

int U2Dlined::set	(	const double	A,
		const double	B,
		const double	C
	)

inline

Set line from known A, B, C values in the line equation Ax + By + C = 0

References U2Dline::A(), U2Dline::B(), U2Dline::C(), U2Dline::fit(), U2Dline::lA, U2Dline::lB, U2Dline::lC, U2Dline::setXline(), U2Dline::setYline(), and U2Dline::variance().

Referenced by UResAuEf::findFeatures(), UResAuEf::initializeWalls(), and UResAuEf::updateWalls().

int U2Dlined::set	(	double	fx[],
		double	fy[],
		int	count,
		double *	V = `NULL`
	)

Set as best fit line through a series of points. if V != NULL then the variance is returned here

References a, absd(), U2Dline::lA, U2Dline::lB, U2Dline::lC, sqr(), and U2Dline::variance().

int U2Dlined::set2P	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2
	)

inline

Set from two points. returns -1 if too close.

References U2Dline::setPV().

Referenced by UPolygon::cut(), UPolygon::cutPoints(), UAvoidCellGraph::findCell(), UPolygon::getDistance(), ULineSegment::getDistanceXYSigned(), UManArc::getFoodprintPolygon(), UManLine::getMinDistanceXYSigned(), UAvoidObst::getTangentVertexFrom(), and UFuncCropRow::handleCommand().

void U2Dlined::setAR	(	const double	a,
		const double	r
	)

inline

Sets the line from an alpha (a) and r notation. like A = cos(a), B = sin(a), C = -r

Parameters

a	is the angle to the closest point on the line - from origo.
r	is the distance to the closest point (from origo) to the line.

References U2Dline::lA, U2Dline::lB, and U2Dline::lC.

int U2Dlined::setPH	(	const double	Px,
		const double	Py,
		const double	h
	)

Set line from point-heading format. the resulting line is normalized, so that the A,B vector is a unit vector.

Parameters

Px	is X-position (in meter)
Py	is Y position (in meter)
h	is heading of line in radians.

Returns: 0.

References U2Dline::C().

Referenced by UManSeq::getDistanceFromEndPoseLine(), UResSmrCtl::getSMRCLDrive2cmd(), UResRuleState::methodCallV(), and UAvoidPath2::splitObstGroup().

int U2Dlined::setPV	(	const double	Px,
		const double	Py,
		const double	Vx,
		const double	Vy
	)

Set line from point-vector format. the resulting line is normalized, so that the A,B vector is a unit vector.

Parameters

Px	is X-position (in meter)
Py	is Y position (in meter)
Vx	is X-component of heading vector (in meter)
Vy	is Y component of heading vector (in meter) returns -1 if zero vector.

References U2Dline::C().

Referenced by UPolygon::getMostDistantVertexXY(), UPolygon::getMostDistantXY(), ULine::getXYCrossing(), ULine::getXYsignedDistance(), and UResRuleState::methodCallV().

bool U2Dlined::setXline	(	double	sX,
		double	sY,
		double	sX2,
		double	sXY,
		int	count
	)

Set line parameters, assuming that the line is more or less parallel with the x-axis

References a, absd(), U2Dline::lA, U2Dline::lB, U2Dline::lC, and sqr().

bool U2Dlined::setYline	(	double	sX,
		double	sY,
		double	sY2,
		double	sXY,
		int	count
	)

Set line parameters, assuming that the line is more or less parallel with the y-axis

References a, absd(), U2Dline::lA, U2Dline::lB, U2Dline::lC, and sqr().

virtual void U2Dlined::shiftLeft ( double dist )

inlinevirtual

Shift the line this distance to the Left This moves the C parameter and the start position.

Parameters

dist	is the distance shifted.

Reimplemented in U2Dseg.

References dist, and U2Dline::lC.

Referenced by U2Dseg::shiftLeft().

virtual void U2Dlined::shiftRight ( double dist )

inlinevirtual

Shift the line this distance to the Right This moves the C parameter and the start position.

Parameters

dist	is the distance shifted.

Reimplemented in U2Dseg.

References dist, and U2Dline::lC.

Referenced by U2Dseg::shiftRight().

double U2Dlined::variance	(	double	fx[],
		double	fy[],
		int	count,
		double *	E = `NULL`
	)

Get mean and variance for the distance from these points to the line if E == NULL then mean is not returned. if no points are given, then -1.0 is returned

References U2Dline::distanceSigned(), and sqr().

Referenced by test2DlineFit().

double U2Dlined::vx ( )

inline

Get line vextor X component

References U2Dline::lB.

double U2Dlined::vy ( )

inline

Get line vextor Y component

References U2Dline::lA.

Member Data Documentation

double U2Dlined::lA

protected

Parameters in line equation Ax + By + C = 0

double U2Dlined::lB

protected

double U2Dlined::lC

protected

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation