#include <uplane.h>

Public Member Functions
void	clear ()

double	dist (UPosition p1)
	Get distance from point to plane. More...

double	distSigned (UPosition p1)
	Get signed distance from point to plane. The distance is positive if the position is at the origin-side of the plane. More...

UPosition	getLineCrossing (ULine crossingLine, bool *notParallel)

UPosition	getNormal ()

UPosition	getOnPlane (UPosition p1)

ULine	getPlaneCrossing (UPlane plane2, bool *notParallel)

bool	isValid ()

void	normalize ()

const char *	print (const char preStr, char buff, const int buffCnt)

void	set (UPosition p1, UPosition p2, UPosition p3)

void	set (UPosition p1, UPosition n1)

void	set (UPosition p1)

void	set (double x, double y, double z)

void	set (double ia, double ib, double ic, double id)

	UPlane ()

	~UPlane ()

Public Attributes
double	a

double	b

double	c

double	d

Detailed Description

General definition of a 3D plane, defined bu ax + by +cz + d = 0. The normal vector (a,b,c) is assumed (and set) to be a unit vector, and d will be positive or zero (The distance to the plane (from origo) is then d) to ease distance calculations.

Author: Christian Andersen jca@o.nosp@m.erst.nosp@m.ed.dt.nosp@m.u.dk

Constructor & Destructor Documentation

UPlane::UPlane ( )

Constrctor

References clear().

UPlane::~UPlane ( )

Destructor

Member Function Documentation

void UPlane::clear ( void )

inline

clear sets the plane to span the x-y axis zeros.

References a, b, c, d, and print().

Referenced by UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), and UPlane().

double UPlane::dist ( UPosition p1 )

inline

Get distance from point to plane.

Parameters

p1	is the 3d point

Returns: distance to point

References distSigned(), getLineCrossing(), getOnPlane(), and getPlaneCrossing().

Referenced by UResObj3d::doGndPlaneMask(), and UImg3Dpoints::getRansacPlane().

double UPlane::distSigned ( UPosition p1 )

inline

Get signed distance from point to plane. The distance is positive if the position is at the origin-side of the plane.

Parameters

p1	is the 3d point

Returns: distance to point

References a, b, c, d, UPosition::x, UPosition::y, and UPosition::z.

Referenced by dist(), getOnPlane(), UGroundPatches::heightAnalysis(), UGrid3D::setVoxel(), and testPlane().

UPosition UPlane::getLineCrossing	(	ULine	crossingLine,
		bool *	notParallel
	)

Get position on plane, where the line is crossing the plane.

Parameters

crossingLine	is the line that is assumed to cross the line
notParallel	is true if the crossing is OK, otherwise the point is far away, in the right direction and on the line, but not on the plane.

Returns: the common point on the line and plane.

References a, absd(), b, c, d, ULine::getPositionOnLine(), ULine::pos, ULine::vec, UPosition::x, UPosition::y, and UPosition::z.

Referenced by dist().

UPosition UPlane::getNormal ( )

inline

Get normal vector

References a, b, and c.

Referenced by getPlaneCrossing(), and UImg3Dpoints::getRansacPlane().

UPosition UPlane::getOnPlane ( UPosition p1 )

Get point on plane nearest to a point off the plane.

Parameters

p1	is the position off the plane.

References a, b, c, and distSigned().

Referenced by dist(), UPosRot::getCamToRobPlane(), UPosRot::getRobToCamPlane(), and testPlane().

ULine UPlane::getPlaneCrossing	(	UPlane	plane2,
		bool *	notParallel
	)

Get the line from intersection of two planes.

Parameters

plane2	is the second plane.
notParallel	is true if the result is OK.

Returns: the intersection line.

References a, b, c, UPosition::clear(), UPosition::cross(), d, UMatrix::get(), UPosition::get(), getNormal(), ULine::normalize(), ULine::pos, UMatrix::set(), UPosition::set(), UMatrix::setRC(), UMatrix::solve(), ULine::vec, UPosition::x, UPosition::y, and UPosition::z.

Referenced by dist(), and testPlane().

bool UPlane::isValid ( )

inline

The plane is defined valid, if the normal vector defined as (a,b,c) has length 1.

Returns: true if valid plane.

References a, b, c, and sqr().

void UPlane::normalize ( )

Adjust plane parameters to make (a,b,c) a unit vector and 'd' a positive value.

References a, b, c, d, and sqr().

Referenced by set().

const char * UPlane::print	(	const char *	preStr,
		char *	buff,
		const int	buffCnt
	)

Print result to a string

References a, b, c, and d.

Referenced by clear(), and testPlane().

void UPlane::set	(	UPosition	p1,
		UPosition	p2,
		UPosition	p3
	)

Set the plane from three 3D positions. Using a = A1, b=A2, c = A3, d = A, and Ai = det(x1, x2, x3), where x1 is p1 coulumn, x2 is x2 column x3 is p3 column, except for column i wich is set to [1 1 1]'. A uses the full matrix.

Parameters

p1	is a 3d position on plane
p2	is a 3d position on plane
p3	is a 3d position on plane All positions must be different, else the result will be unpredicted, and isValid() will return false.

References a, b, c, UPosition::cross(), d, UPosition::toUnitVector(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UPosRot::getCamToRobPlane(), UImg3Dpoints::getRansacPlane(), UPosRot::getRobToCamPlane(), and testPlane().

void UPlane::set	(	UPosition	p1,
		UPosition	n1
	)

Set plane from a position and a normal vector.

Parameters

p1	is a 3d position on the plane
n1	is a 3d normal vector (need not be a unit vector) normal vector must not be a null vector (else unpredicted result).

References a, b, c, d, UPosition::toUnitVector(), UPosition::x, UPosition::y, and UPosition::z.

void UPlane::set ( UPosition p1 )

Set plane from the position on the plane closest to origin.

Parameters

p1	is a the closest 3d position on the plane that is closest to the origin the position must not be a null vector (else unpredicted result).

References a, b, c, d, UPosition::dist(), UPosition::toUnitVector(), UPosition::x, UPosition::y, and UPosition::z.

void UPlane::set	(	double	x,
		double	y,
		double	z
	)

inline

Set plane from the position on the plane closest to the origin.

Parameters

p1	is the 3d position on the plane that is closest to the origin the position must not be a null vector (else unpredicted result).

References normalize().

void UPlane::set	(	double	ia,
		double	ib,
		double	ic,
		double	id
	)

inline

Set plane values direct, the a,b,c must not form a null vector.

Parameters

a,b,c,d is the plane parameters (will be normalixed to have a,b,c as a unit vector) normal vector must not be a null vector (else unpredicted result).

References a, b, c, d, and normalize().

Member Data Documentation

double UPlane::a

parameter values for a general plane

Referenced by clear(), distSigned(), getLineCrossing(), getNormal(), getOnPlane(), getPlaneCrossing(), UFuncObj3d::handleCloud(), isValid(), normalize(), print(), and set().

double UPlane::b

Referenced by clear(), distSigned(), getLineCrossing(), getNormal(), getOnPlane(), getPlaneCrossing(), UFuncObj3d::handleCloud(), isValid(), normalize(), print(), and set().

double UPlane::c

Referenced by clear(), distSigned(), getLineCrossing(), getNormal(), getOnPlane(), getPlaneCrossing(), UFuncObj3d::handleCloud(), isValid(), normalize(), print(), and set().

double UPlane::d

Referenced by clear(), distSigned(), getLineCrossing(), getPlaneCrossing(), UFuncObj3d::handleCloud(), normalize(), print(), and set().

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation