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<h1>mrpt::math::TPlane Struct Reference</h1> </div>
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<!-- doxytag: class="mrpt::math::TPlane" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>3D Plane, represented by its equation <img class="formulaInl" alt="$Ax+By+Cz+D=0$" src="form_32.png"/> </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a>,<a class="el" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector<TPoint3D>">TPolygon3D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> </dd></dl>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00956">956</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
<p><code>#include <<a class="el" href="lightweight__geom__data_8h_source.html">mrpt/math/lightweight_geom_data.h</a>></code></p>
<p><a href="structmrpt_1_1math_1_1_t_plane-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#acc1425c72cb65975573ffcbb450c55d2">evaluatePoint</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate a point in the plane's equation. <a href="#acc1425c72cb65975573ffcbb450c55d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a146d5043f0b247e00c304c3f3a1c44e0">contains</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether a point is contained into the plane. <a href="#a146d5043f0b247e00c304c3f3a1c44e0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#af57c08d8739db38ad1fe0531ace3926a">contains</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html">TSegment3D</a> &segment) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether a segment is fully contained into the plane. <a href="#af57c08d8739db38ad1fe0531ace3926a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a5023637a81413d7cf749bd056feca4bd">contains</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &line) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether a line is fully contained into the plane. <a href="#a5023637a81413d7cf749bd056feca4bd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a57053b2643440db24d125b17759da6ae">distance</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Distance to 3D point. <a href="#a57053b2643440db24d125b17759da6ae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a8e76615bddfd23ba1a1526675b530535">distance</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &line) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Distance to 3D line. <a href="#a8e76615bddfd23ba1a1526675b530535"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#ae21590b44abd96523aaaf2658947e02a">getNormalVector</a> (double(&vec)[3]) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get plane's normal vector. <a href="#ae21590b44abd96523aaaf2658947e02a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#ae076972a7ea276bf885cebdd14f38e68">unitarize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize normal vector. <a href="#ae076972a7ea276bf885cebdd14f38e68"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a7e4be995b298d7b331933ed2c405ba8a">getUnitaryNormalVector</a> (double(&vec)[3])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize, then get normal vector. <a href="#a7e4be995b298d7b331933ed2c405ba8a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a84a6723ba59a4095d77c60e6f281223c">getAsPose3D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &outPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a pose whose XY plane corresponds to this plane. <a href="#a84a6723ba59a4095d77c60e6f281223c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a998607e39760859d2ef8f9e8330d0282">getAsPose3D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &outPose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a pose whose XY plane corresponds to this plane. <a href="#a998607e39760859d2ef8f9e8330d0282"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a9a1508e9f4eff2405dd023eb4fd1915e">getAsPose3DForcingOrigin</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &newOrigin, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &pose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. <a href="#a9a1508e9f4eff2405dd023eb4fd1915e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#aa84e3a2455e945635f78c0726202db38">getAsPose3DForcingOrigin</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &newOrigin, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &pose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. <a href="#aa84e3a2455e945635f78c0726202db38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a8a7a877fba9d51c7bbd52d8d9bb6ed9a">TPlane</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p1, const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p2, const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p3) throw (std::logic_error)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a plane which contains these three points. <a href="#a8a7a877fba9d51c7bbd52d8d9bb6ed9a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#aaadcae622973a55fa7c839e938eb8c87">TPlane</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p1, const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &r2) throw (std::logic_error)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a plane which contains this point and this line. <a href="#aaadcae622973a55fa7c839e938eb8c87"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a119c7805e545e24c24e98bbd643828fa">TPlane</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &r1, const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &r2) throw (std::logic_error)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a plane which contains the two lines. <a href="#a119c7805e545e24c24e98bbd643828fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a3b1f5dc8cf220e5c698c835f4685b1de">TPlane</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fast default constructor. <a href="#a3b1f5dc8cf220e5c698c835f4685b1de"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#acbcc5ccd6013d00092e5ac9dc9fa9a57">TPlane</a> (double A, double B, double C, double D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from plane coefficients. <a href="#acbcc5ccd6013d00092e5ac9dc9fa9a57"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#aa291f61514c3b453a2a4f0b89374a29e">TPlane</a> (const double(&vec)[4])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from an array of coefficients. <a href="#aa291f61514c3b453a2a4f0b89374a29e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9">coefs</a> [4]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Plane coefficients, stored as an array: <img class="formulaInl" alt="$\left[A,B,C,D\right]$" src="form_34.png"/>. <a href="#aa239e4cc73b5f6e72069feb9423c28a9"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a8a7a877fba9d51c7bbd52d8d9bb6ed9a"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="a8a7a877fba9d51c7bbd52d8d9bb6ed9a" args="(const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p3)" -->
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<td class="memname">mrpt::math::TPlane::TPlane </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>p1</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>p2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>p3</em> </td>
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<td></td>
<td>)</td>
<td></td><td> throw (std::logic_error)</td>
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<p>Gets a plane which contains these three points. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::logic_error</td><td>if the points are linearly dependants. </td></tr>
</table>
</dd>
</dl>
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<a class="anchor" id="aaadcae622973a55fa7c839e938eb8c87"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="aaadcae622973a55fa7c839e938eb8c87" args="(const TPoint3D &p1, const TLine3D &r2)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>p1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> & </td>
<td class="paramname"> <em>r2</em> </td>
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<td></td>
<td>)</td>
<td></td><td> throw (std::logic_error)</td>
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<p>Gets a plane which contains this point and this line. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::logic_error</td><td>if the point is inside the line. </td></tr>
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</dd>
</dl>
</div>
</div>
<a class="anchor" id="a119c7805e545e24c24e98bbd643828fa"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="a119c7805e545e24c24e98bbd643828fa" args="(const TLine3D &r1, const TLine3D &r2)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> & </td>
<td class="paramname"> <em>r1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> & </td>
<td class="paramname"> <em>r2</em> </td>
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<td></td>
<td>)</td>
<td></td><td> throw (std::logic_error)</td>
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<p>Gets a plane which contains the two lines. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::logic_error</td><td>if the lines do not cross. </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="a3b1f5dc8cf220e5c698c835f4685b1de"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="a3b1f5dc8cf220e5c698c835f4685b1de" args="()" -->
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<td class="memname">mrpt::math::TPlane::TPlane </td>
<td>(</td>
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<td><code> [inline]</code></td>
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<p>Fast default constructor. </p>
<p>Initializes to garbage. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01045">1045</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="acbcc5ccd6013d00092e5ac9dc9fa9a57"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="acbcc5ccd6013d00092e5ac9dc9fa9a57" args="(double A, double B, double C, double D)" -->
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<td class="paramtype">double </td>
<td class="paramname"> <em>A</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>B</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>C</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>D</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Constructor from plane coefficients. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01049">1049</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="aa291f61514c3b453a2a4f0b89374a29e"></a><!-- doxytag: member="mrpt::math::TPlane::TPlane" ref="aa291f61514c3b453a2a4f0b89374a29e" args="(const double(&vec)[4])" -->
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<td class="memname">mrpt::math::TPlane::TPlane </td>
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<td class="paramtype">const double(&) </td>
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<td><code> [inline]</code></td>
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<p>Constructor from an array of coefficients. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01058">1058</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a146d5043f0b247e00c304c3f3a1c44e0"></a><!-- doxytag: member="mrpt::math::TPlane::contains" ref="a146d5043f0b247e00c304c3f3a1c44e0" args="(const TPoint3D &point) const " -->
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<td class="memname">bool mrpt::math::TPlane::contains </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>point</em> )</td>
<td> const</td>
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<p>Check whether a point is contained into the plane. </p>
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<a class="anchor" id="a5023637a81413d7cf749bd056feca4bd"></a><!-- doxytag: member="mrpt::math::TPlane::contains" ref="a5023637a81413d7cf749bd056feca4bd" args="(const TLine3D &line) const " -->
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<td class="memname">bool mrpt::math::TPlane::contains </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> & </td>
<td class="paramname"> <em>line</em> )</td>
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<p>Check whether a line is fully contained into the plane. </p>
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<a class="anchor" id="af57c08d8739db38ad1fe0531ace3926a"></a><!-- doxytag: member="mrpt::math::TPlane::contains" ref="af57c08d8739db38ad1fe0531ace3926a" args="(const TSegment3D &segment) const " -->
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<td class="memname">bool mrpt::math::TPlane::contains </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html">TSegment3D</a> & </td>
<td class="paramname"> <em>segment</em> )</td>
<td> const<code> [inline]</code></td>
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<p>Check whether a segment is fully contained into the plane. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00973">973</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
<p>References <a class="el" href="lightweight__geom__data_8h_source.html#l00716">mrpt::math::TSegment3D::point1</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l00720">mrpt::math::TSegment3D::point2</a>.</p>
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<a class="anchor" id="a57053b2643440db24d125b17759da6ae"></a><!-- doxytag: member="mrpt::math::TPlane::distance" ref="a57053b2643440db24d125b17759da6ae" args="(const TPoint3D &point) const " -->
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<td class="memname">double mrpt::math::TPlane::distance </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> & </td>
<td class="paramname"> <em>point</em> )</td>
<td> const</td>
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<p>Distance to 3D point. </p>
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<a class="anchor" id="a8e76615bddfd23ba1a1526675b530535"></a><!-- doxytag: member="mrpt::math::TPlane::distance" ref="a8e76615bddfd23ba1a1526675b530535" args="(const TLine3D &line) const " -->
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<td class="memname">double mrpt::math::TPlane::distance </td>
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<td class="paramname"> <em>line</em> )</td>
<td> const</td>
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<p>Distance to 3D line. </p>
<p>Will be zero if the line is not parallel to the plane. </p>
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<a class="anchor" id="acc1425c72cb65975573ffcbb450c55d2"></a><!-- doxytag: member="mrpt::math::TPlane::evaluatePoint" ref="acc1425c72cb65975573ffcbb450c55d2" args="(const TPoint3D &point) const " -->
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<td class="memname">double mrpt::math::TPlane::evaluatePoint </td>
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<td class="paramname"> <em>point</em> )</td>
<td> const</td>
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<p>Evaluate a point in the plane's equation. </p>
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<a class="anchor" id="a998607e39760859d2ef8f9e8330d0282"></a><!-- doxytag: member="mrpt::math::TPlane::getAsPose3D" ref="a998607e39760859d2ef8f9e8330d0282" args="(mrpt::poses::CPose3D &outPose) const " -->
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<td class="memname">void mrpt::math::TPlane::getAsPose3D </td>
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<td class="paramname"> <em>outPose</em> )</td>
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<p>Gets a pose whose XY plane corresponds to this plane. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01010">1010</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
<p>References <a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a84a6723ba59a4095d77c60e6f281223c">getAsPose3D()</a>.</p>
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<td class="paramname"> <em>outPose</em> )</td>
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<p>Gets a pose whose XY plane corresponds to this plane. </p>
<p>Referenced by <a class="el" href="lightweight__geom__data_8h_source.html#l01010">getAsPose3D()</a>, and <a class="el" href="geometry_8h_source.html#l00320">mrpt::math::project3D()</a>.</p>
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<a class="anchor" id="a9a1508e9f4eff2405dd023eb4fd1915e"></a><!-- doxytag: member="mrpt::math::TPlane::getAsPose3DForcingOrigin" ref="a9a1508e9f4eff2405dd023eb4fd1915e" args="(const TPoint3D &newOrigin, mrpt::poses::CPose3D &pose)" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> & </td>
<td class="paramname"> <em>pose</em> </td>
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<p>Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname">std::logic_error</td><td>if the point is not inside the plane. </td></tr>
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<p>Referenced by <a class="el" href="lightweight__geom__data_8h_source.html#l01023">getAsPose3DForcingOrigin()</a>.</p>
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<a class="anchor" id="aa84e3a2455e945635f78c0726202db38"></a><!-- doxytag: member="mrpt::math::TPlane::getAsPose3DForcingOrigin" ref="aa84e3a2455e945635f78c0726202db38" args="(const TPoint3D &newOrigin, mrpt::poses::CPose3D &pose) const " -->
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<p>Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::logic_error</td><td>if the point is not inside the plane. </td></tr>
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</dd>
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<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l01023">1023</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
<p>References <a class="el" href="structmrpt_1_1math_1_1_t_plane.html#a9a1508e9f4eff2405dd023eb4fd1915e">getAsPose3DForcingOrigin()</a>.</p>
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<a class="anchor" id="ae21590b44abd96523aaaf2658947e02a"></a><!-- doxytag: member="mrpt::math::TPlane::getNormalVector" ref="ae21590b44abd96523aaaf2658947e02a" args="(double(&vec)[3]) const " -->
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<p>Get plane's normal vector. </p>
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<a class="anchor" id="a7e4be995b298d7b331933ed2c405ba8a"></a><!-- doxytag: member="mrpt::math::TPlane::getUnitaryNormalVector" ref="a7e4be995b298d7b331933ed2c405ba8a" args="(double(&vec)[3])" -->
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<p>Unitarize, then get normal vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00999">999</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
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<a class="anchor" id="ae076972a7ea276bf885cebdd14f38e68"></a><!-- doxytag: member="mrpt::math::TPlane::unitarize" ref="ae076972a7ea276bf885cebdd14f38e68" args="()" -->
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<p>Unitarize normal vector. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aa239e4cc73b5f6e72069feb9423c28a9"></a><!-- doxytag: member="mrpt::math::TPlane::coefs" ref="aa239e4cc73b5f6e72069feb9423c28a9" args="[4]" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9">mrpt::math::TPlane::coefs</a>[4]</td>
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<p>Plane coefficients, stored as an array: <img class="formulaInl" alt="$\left[A,B,C,D\right]$" src="form_34.png"/>. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00961">961</a> of file <a class="el" href="lightweight__geom__data_8h_source.html">lightweight_geom_data.h</a>.</p>
<p>Referenced by <a class="el" href="lightweight__geom__data_8h_source.html#l02414">mrpt::math::operator<<()</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l02408">mrpt::math::operator>>()</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
