Main MRPT website > C++ reference
MRPT logo
Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options > Class Template Reference
Geometry module

Detailed Description

template<typename _Scalar, int _AmbientDim, int _Options>
class Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >

A parametrized line

A parametrized line is defined by an origin point $ \mathbf{o} $ and a unit direction vector $ \mathbf{d} $ such that the line corresponds to the set $ l(t) = \mathbf{o} + t \mathbf{d} $, $ t \in \mathbf{R} $.

Parameters:
_Scalarthe scalar type, i.e., the type of the coefficients
_AmbientDimthe dimension of the ambient space, can be a compile time value or Dynamic.

Definition at line 44 of file Geometry.

List of all members.

Public Types

enum  { AmbientDimAtCompileTime = _AmbientDim, Options = _Options }
typedef _Scalar Scalar
typedef NumTraits< Scalar >::Real RealScalar
typedef DenseIndex Index
typedef Matrix< Scalar,
AmbientDimAtCompileTime,
1, Options > 		VectorType

Public Member Functions

 ParametrizedLine ()
 Default constructor without initialization.
template<int OtherOptions>
 ParametrizedLine (const ParametrizedLine< Scalar, AmbientDimAtCompileTime, OtherOptions > &other)
 ParametrizedLine (Index _dim)
 Constructs a dynamic-size line with _dim the dimension of the ambient space.
 ParametrizedLine (const VectorType &origin, const VectorType &direction)
 Initializes a parametrized line of direction direction and origin origin.
template<int OtherOptions>
 ParametrizedLine (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane)
 Constructs a parametrized line from a 2D hyperplane.
 ~ParametrizedLine ()
Index dim () const
const VectorType & origin () const
VectorType & origin ()
const VectorType & direction () const
VectorType & direction ()
RealScalar squaredDistance (const VectorType &p) const
RealScalar distance (const VectorType &p) const
VectorType projection (const VectorType &p) const
template<int OtherOptions>
Scalar intersection (const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &hyperplane) const
template<typename NewScalarType >
internal::cast_return_type
< ParametrizedLine,
ParametrizedLine
< NewScalarType,
AmbientDimAtCompileTime,
Options > >::type 		cast () const
template<typename OtherScalarType , int OtherOptions>
 ParametrizedLine (const ParametrizedLine< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &other)
 Copy constructor with scalar type conversion.
bool isApprox (const ParametrizedLine &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const

Static Public Member Functions

static ParametrizedLine Through (const VectorType &p0, const VectorType &p1)
 Constructs a parametrized line going from p0 to p1.

Protected Attributes

VectorType m_origin
VectorType m_direction

Member Typedef Documentation

template<typename _Scalar , int _AmbientDim, int _Options>
typedef DenseIndex Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::Index

Definition at line 54 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
typedef NumTraits<Scalar>::Real Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::RealScalar

Definition at line 53 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
typedef _Scalar Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::Scalar

Definition at line 52 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::VectorType

Definition at line 55 of file Geometry.

Member Enumeration Documentation

template<typename _Scalar , int _AmbientDim, int _Options>
anonymous enum
Enumerator:
AmbientDimAtCompileTime 
Options 

Definition at line 48 of file Geometry.

Constructor & Destructor Documentation

template<typename _Scalar , int _AmbientDim, int _Options>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( ) [inline, explicit]

Default constructor without initialization.

Definition at line 58 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
template<int OtherOptions>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( const ParametrizedLine< Scalar, AmbientDimAtCompileTime, OtherOptions > &  other) [inline]

Definition at line 61 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( Index  _dim) [inline, explicit]

Constructs a dynamic-size line with _dim the dimension of the ambient space.

Definition at line 67 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( const VectorType &  origin,
const VectorType &  direction 
) [inline]

Initializes a parametrized line of direction direction and origin origin.

Warning:
the vector direction is assumed to be normalized.

Definition at line 72 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
template<int OtherOptions>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) [inline, explicit]

Constructs a parametrized line from a 2D hyperplane.

Warning:
the ambient space must have dimension 2 such that the hyperplane actually describes a line

Definition at line 152 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::~ParametrizedLine ( ) [inline]

Definition at line 82 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
template<typename OtherScalarType , int OtherOptions>
Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::ParametrizedLine ( const ParametrizedLine< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &  other) [inline, explicit]

Copy constructor with scalar type conversion.

Definition at line 128 of file Geometry.

Member Function Documentation

template<typename _Scalar , int _AmbientDim, int _Options>
template<typename NewScalarType >
internal::cast_return_type<ParametrizedLine, ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::cast ( ) const [inline]
Returns:
*this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 120 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
Index Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::dim ( ) const [inline]
Returns:
the dimension in which the line holds

Definition at line 85 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
const VectorType& Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::direction ( ) const [inline]

Definition at line 90 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
VectorType& Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::direction ( ) [inline]

Definition at line 91 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
RealScalar Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::distance ( const VectorType &  p) const [inline]
Returns:
the distance of a point p to its projection onto the line *this.
See also:
squaredDistance()

Definition at line 104 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
template<int OtherOptions>
_Scalar Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::intersection ( const Hyperplane< _Scalar, _AmbientDim, OtherOptions > &  hyperplane) const [inline]
Returns:
the parameter value of the intersection between *this and the given hyperplane

Definition at line 163 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
bool Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::isApprox ( const ParametrizedLine< _Scalar, _AmbientDim, _Options > &  other,
typename NumTraits< Scalar >::Real  prec = NumTraits<Scalar>::dummy_precision() 
) const [inline]
Returns:
true if *this is approximately equal to other, within the precision determined by prec.
See also:
MatrixBase::isApprox()

Definition at line 138 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
const VectorType& Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::origin ( ) const [inline]

Definition at line 87 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
VectorType& Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::origin ( ) [inline]

Definition at line 88 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
VectorType Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::projection ( const VectorType &  p) const [inline]
Returns:
the projection of a point p onto the line *this.

Definition at line 107 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
RealScalar Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::squaredDistance ( const VectorType &  p) const [inline]
Returns:
the squared distance of a point p to its projection onto the line *this.
See also:
distance()

Definition at line 96 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
static ParametrizedLine Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::Through ( const VectorType &  p0,
const VectorType &  p1 
) [inline, static]

Constructs a parametrized line going from p0 to p1.

Definition at line 79 of file Geometry.

Member Data Documentation

template<typename _Scalar , int _AmbientDim, int _Options>
VectorType Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::m_direction [protected]

Definition at line 143 of file Geometry.

template<typename _Scalar , int _AmbientDim, int _Options>
VectorType Eigen::ParametrizedLine< _Scalar, _AmbientDim, _Options >::m_origin [protected]

Definition at line 143 of file Geometry.



Page generated by Doxygen 1.7.4 for MRPT 0.9.5 SVN:2717 at Sun Oct 16 16:08:03 PDT 2011 Hosted on:
SourceForge.net Logo