ULineSegment Class Reference

#include <uline.h>

Inheritance diagram for ULineSegment:

Public Member Functions
virtual void	clear ()
virtual const char *	getDataType ()
double	getDistanceFromSeg (UPosition point, int *where=NULL)
double	getDistanceFromSegSq (UPosition point, int *where=NULL)
double	getDistanceXYSigned (UPosition point, int *where)
UPosition	getOtherEnd ()
bool	getSegmentCrossingXY (ULineSegment *other, UPosition *crossing)
void	print (const char *prestring=NULL)
virtual void	setFromPoints (const UPosition *pos1, const UPosition *pos2)
virtual void	setFromPoints (UPosition pos1, UPosition pos2)
void	setFromPoints (double x1, double y1, double z1, double x2, double y2, double z2)
void	show (const char *prestring=NULL)
virtual void	snprint (const char *prestring, char *buff, const int buffCnt)
Public Member Functions inherited from ULine
int	getCylinderCrossings (UPosition center, double r, double *t1, double *t2)
double	getDistance (UPosition *point)
double	getDistanceSq (UPosition *point)
double	getDistanceSq (UPosition point)
UPosition	getPlaneLineCrossing (ULine crossingLine, bool *notParallel=NULL)
double	getPositionOnLine (UPosition *point)
double	getPositionOnLine (UPosition point)
UPosition	getPositionOnLine (const double t)
double	getPositionOnLineXY (UPosition *point)
double	getPositionOnLineXY (UPosition point)
UPosition	getPositionOnLineXY (const double t)
int	getSphereCrossings (UPosition center, double r, double *t1, double *t2)
bool	getXYCrossing (ULine other, UPosition *crossingXY)
double	getXYHeading ()
double	getXYsignedDistance (UPosition pos)
bool	isValid ()
void	normalize ()
void	print (const char *prestring=NULL)
void	set (UPosition iPos, UPosition iVec)
void	set2D (double x, double y, double heading)
void	setFromPoints (double x1, double y1, double z1, double x2, double y2, double z2)
void	show (const char *prestring=NULL)
void	turn90degXY (bool left)
	ULine ()
	ULine (double Px, double Py, double Pz, double Vx, double Vy, double Vz)
virtual	~ULine ()
Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)
virtual bool	isAlsoA (const char *typeString)
	UDataBase ()
virtual	~UDataBase ()

Public Attributes
double	length
Public Attributes inherited from ULine
UPosition	pos
UPosition	vec

Detailed Description

Class to describe a 3D line using a 3D position, a unit vector and a length.

Member Function Documentation

void ULineSegment::clear ( void  )

virtual

Clear

Reimplemented from ULine.

References ULine::clear().

virtual const char* ULineSegment::getDataType ( )

inlinevirtual

Get (end) type string for this structure

Reimplemented from ULine.

References ULine::clear(), ULine::setFromPoints(), ULine::show(), and ULine::snprint().

Referenced by UFunctionVarPool::initCallReturnStructType().

double ULineSegment::getDistanceFromSeg ( UPosition  point, int *  where = NULL  )

inline

Get distance to line segment from a point (not squared). where = 0 if on line segment, 1 if closest to 'pos', and 2 if closest to 'other end'

Referenced by UPolygon::getDistance(), and testLineSegment().

double ULineSegment::getDistanceFromSegSq	(	UPosition	point,
		int *	where = NULL
	)

Get distance from a 3D point to a line segemnt, i.e. distance to the closest end or if closer to a point on the line segment, then this distance. the distance is squared. The optional second parameter returns the closest point (if != NULL) where = 0 if on line segment, 1 if closest to 'pos', and 2 if closest to 'other end'

References UPosition::distSq(), ULine::getPositionOnLine(), and ULine::pos.

double ULineSegment::getDistanceXYSigned	(	UPosition	point,
		int *	where
	)

Get — in XY space — the signed distance of 'point' relative to this segment. Positive is to the right of segment - seen from first end in direction towards other end. Returnes distance to either end or to a point on line whatever is closest. If 'where' is not NULL, then the closest part is returned here as: 0=point on line, 1= first point, 2= other end.

References dist, U2Dlined::distanceSigned(), ULine::getPositionOnLine(), ULine::pos, U2Dlined::set2P(), setFromPoints(), signofd(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UPolygon::getDistanceXYsigned2(), UManArc::getMinDistanceXYSigned(), UPolygon::isOverlappingXYconvex2(), UAvoidPath2::setClosestPoint(), UReactivePath::testForObstacleNearExit(), and testSignedDistance().

UPosition ULineSegment::getOtherEnd ( )

inline

Get position of other end of line segment

References ULine::getPositionOnLine().

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addNoVisLinesAsObstacles(), ULaserMeasurement::clear(), UResPassable::combineNearIntervals(), UFakeMap::copyToPoly(), UClientFuncLaserGui::doImage(), UAvoidCellGraph::fillVerticeList(), UAvoidPath2::findRoutesA(), UManLine::getMinDistanceXYSigned(), UManArc::getMinDistanceXYSigned(), UManPPSeq::getMinDistanceXYSigned(), UAvoidPath2::logObstacleGroups(), USFData::moveLocalToMap(), UFeatureData::moveLocalToOdo(), ULaserObst::moveToMap(), ULaserPi::moveToMap(), UNavPaint::paintFeatures(), UNavView::paintFeatures(), UClientFuncLaserGui::paintLineSegments(), UNavPaint::paintManData(), UClientFuncLaserGui::paintPathData(), UNavPaint::paintRoadLine(), UFunctionAvoid::sendCurrentAvoidPath(), ULaserPi::setInterval(), and UResRoadLine::updateRoadVariables().

bool ULineSegment::getSegmentCrossingXY	(	ULineSegment *	other,
		UPosition *	crossing
	)

Is this line segment crossing the other segment, Returns true if crossing (within ends), and The crossing (x,y-only) is returned in 'crossing' If no crossing is found, 'crossing' may be changed.

References a, ULine::getPositionOnLineXY(), and ULine::getXYCrossing().

Referenced by ULaserMeasurement::clear(), UPolygon::getCrossings(), UFakeMap::getFake2range(), UPolygon::isOverlappingXY(), UPolygon::isOverlappingXYconvex2(), UPolygon::isOverlappingXYtype(), and UAvoidLnkSeq::pathCrossing().

void ULineSegment::print ( const char *  prestring = NULL )

inline

Same as abowe

References ULine::show().

Referenced by testManLineToSeg(), and testManToSeg().

void ULineSegment::setFromPoints ( const UPosition *  pos1, const UPosition *  pos2  )

virtual

Set line from two points. Reference position is set from pos1, and other end is set to pos2 so that "pos1 + vec * length" ends at pos2.

Reimplemented from ULine.

References ULine::setFromPoints(), sqr(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by ULaserMeasurement::clear(), UAvoidCellGraph::fillVerticeList(), ULaserObst::findEdgeObstacle(), UAvoidPath2::findObstAvoidRoute(), UPolygon::getCrossings(), UManSeq::getDeviationFromDirect(), UPolygon::getDistance(), getDistanceXYSigned(), UPolygon::getDistanceXYsigned2(), UFakeMap::getFake2range(), ULaserScan::getLineSegmentFit(), UManPPSeq::getMinDistanceXYSigned(), UAvoidNoVis::getNoVisSegment(), UPolygon::getSegment(), UAvoidLink::getTangentLine(), UPolygon::isOverlappingXY(), UPolygon::isOverlappingXYconvex2(), USFData::moveLocalToMap(), UFeatureData::moveLocalToOdo(), ULaserObst::moveToMap(), ULaserPi::moveToMap(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::setClosestPoint(), UAvoidNoVis::setNoVisSegment(), testLineSegment(), testManLineToSeg(), testManToSeg(), UAvoidPath2::testNoVisSegVisibility(), testSignedDistance(), testSmlEncoding(), and URoadLine::update().

void ULineSegment::setFromPoints ( UPosition  pos1, UPosition  pos2  )

virtual

Set line from two points. Reference position is set from pos1, and other end is set to pos2 so that "pos1 + vec * length" ends at pos2.

Reimplemented from ULine.

References UPosition::dist(), and ULine::setFromPoints().

void ULineSegment::setFromPoints	(	double	x1,
		double	y1,
		double	z1,
		double	x2,
		double	y2,
		double	z2
	)

Set line segment from points. a line segment is a start point, a direction vector and a length.

Parameters

x1,y1,z1	defines the first (start) point
x2,y2,z2	defines the end point

References ULine::setFromPoints(), and sqr().

void ULineSegment::show

(

const char *

prestring = NULL

)

Show values of line to console

References ULine::show().

Referenced by testLineSegment().

void ULineSegment::snprint ( const char *  prestring, char *  buff, const int  buffCnt  )

virtual

Print values of line to string

Reimplemented from ULine.

References ULine::snprint().

Member Data Documentation

double ULineSegment::length

Length of line segment

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addNoVisLinesAsObstacles(), USmlTag::codeLineSegment(), UAvoidObst::crossingNonVisibilityLine(), UAvoidCellGraph::fillVerticeList(), ULaserObst::findEdgeObstacle(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), UResPassable::findTopOfRoad(), UAvoidLnkSeq::getDistance(), USmlTag::getLineSegment(), ULaserScan::getLineSegmentFit(), UManSeq::getMinDistanceXYSigned(), UAvoidLink::getTangentLine(), ULaserPi::getWidth(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), UResPassable::makePassableIntervalsFit(), UClientFuncLaserGui::paintLineSegments(), UAvoidLnkSeq::pathCrossing(), UAvoidPath2::setClosestPoint(), URoadLine::setNew(), URoadLine::update(), and UResRoadLine::updateRoadVariables().

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

• uline.h
• uline.cpp