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<li class="navelem"><a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html">TLine2D</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> </div>
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<div class="title">mrpt::math::TLine2D Struct Reference<div class="ingroups"><a class="el" href="group__geometry__grp.html">Geometry: lines, planes, intersections, SLERP, "lightweight" point & pose classes</a></div></div> </div>
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<!-- doxytag: class="mrpt::math::TLine2D" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>2D line without bounds, represented by its equation <img class="formulaInl" alt="$Ax+By+C=0$" src="form_31.png"/>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><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="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>,<a class="el" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector<TPoint2D>.">TPolygon2D</a>,<a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> </dd></dl>
</div>
<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_line2_d-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_line2_d.html#aeb3094624fec30e790c5c33ec13b931e">evaluatePoint</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate point in the line's equation. <a href="#aeb3094624fec30e790c5c33ec13b931e"></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_line2_d.html#a676254fbc33cb692b21ed826de4335e1">contains</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether a point is inside the line. <a href="#a676254fbc33cb692b21ed826de4335e1"></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_line2_d.html#a1484bc92c6516f9373049c5900d2f3a9">distance</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Distance from a given point. <a href="#a1484bc92c6516f9373049c5900d2f3a9"></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_line2_d.html#a71db3216ac3296674c3512c38eb057e0">signedDistance</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Distance with sign from a given point (sign indicates side). <a href="#a71db3216ac3296674c3512c38eb057e0"></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_line2_d.html#ab95fb7e7b64f5bcae7bf080c6d24aa29">getNormalVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[2]) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get line's normal vector. <a href="#ab95fb7e7b64f5bcae7bf080c6d24aa29"></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_line2_d.html#add14851f3ad381b327ea9dbf24062404">unitarize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize line's normal vector. <a href="#add14851f3ad381b327ea9dbf24062404"></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_line2_d.html#afd78002b85ca6101060812106b7fa2f3">getUnitaryNormalVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[2])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get line's normal vector after unitarizing line. <a href="#afd78002b85ca6101060812106b7fa2f3"></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_line2_d.html#a5724d16fbc299db55bf40dc92e3bcc42">getDirectorVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[2]) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get line's director vector. <a href="#a5724d16fbc299db55bf40dc92e3bcc42"></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_line2_d.html#a893248f4287a5b60efbea7504117e95b">getUnitaryDirectorVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[2])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize line and then get director vector. <a href="#a893248f4287a5b60efbea7504117e95b"></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_line2_d.html#aa90d9ed8db445a5f52a14a1a1e3ffc77">generate3DObject</a> (<a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &l) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project into 3D space, setting the z to 0. <a href="#aa90d9ed8db445a5f52a14a1a1e3ffc77"></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_line2_d.html#a767eb25907e3bbfc9d61fad6f6406ac5">getAsPose2D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> &outPose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pose2D whose X axis corresponds to the line. <a href="#a767eb25907e3bbfc9d61fad6f6406ac5"></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_line2_d.html#a7b269f5d3576790080d75674d2aaa75e">getAsPose2DForcingOrigin</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &origin, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> &outPose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pose2D whose X axis corresponds to the line, forcing the base point to one given. <a href="#a7b269f5d3576790080d75674d2aaa75e"></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_line2_d.html#ac7750325e50486307ed7da7af55ce3f2">TLine2D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &p1, const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> &p2) throw (std::logic_error)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from two points, through which the line will pass. <a href="#ac7750325e50486307ed7da7af55ce3f2"></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_line2_d.html#a43df58ac04699e7a8e5c13a9682d0e98">TLine2D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_segment2_d.html">TSegment2D</a> &s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a segment. <a href="#a43df58ac04699e7a8e5c13a9682d0e98"></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_line2_d.html#a2bf63eda14216acb0d9a5cd2fd95970c">TLine2D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fast default constructor. <a href="#a2bf63eda14216acb0d9a5cd2fd95970c"></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_line2_d.html#afbd73de8446c7dc7ab3dbcdd5499dfb4">TLine2D</a> (double A, double B, double C)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from line's coefficients. <a href="#afbd73de8446c7dc7ab3dbcdd5499dfb4"></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_line2_d.html#a1b8d0ffc7e0827ebc04ce14351fc0ae9">TLine2D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &l)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construction from 3D object, discarding the Z. <a href="#a1b8d0ffc7e0827ebc04ce14351fc0ae9"></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_line2_d.html#ad0719679cd1e0826145e06a785937a00">coefs</a> [3]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Line coefficients, stored as an array: <img class="formulaInl" alt="$\left[A,B,C\right]$" src="form_33.png"/>. <a href="#ad0719679cd1e0826145e06a785937a00"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ac7750325e50486307ed7da7af55ce3f2"></a><!-- doxytag: member="mrpt::math::TLine2D::TLine2D" ref="ac7750325e50486307ed7da7af55ce3f2" args="(const TPoint2D &p1, const TPoint2D &p2)" -->
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<td class="memname">mrpt::math::TLine2D::TLine2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>p1</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_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>p2</em> </td>
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<td></td>
<td>)</td>
<td></td><td> throw (<a class="el" href="classstd_1_1logic__error.html">std::logic_error</a>)</td>
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<p>Constructor from two points, through which the line will pass. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">logic_error</td><td>if both points are the same </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="a43df58ac04699e7a8e5c13a9682d0e98"></a><!-- doxytag: member="mrpt::math::TLine2D::TLine2D" ref="a43df58ac04699e7a8e5c13a9682d0e98" args="(const TSegment2D &s)" -->
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<td class="memname">mrpt::math::TLine2D::TLine2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_segment2_d.html">TSegment2D</a> & </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<div class="memdoc">
<p>Constructor from a segment. </p>
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</div>
<a class="anchor" id="a2bf63eda14216acb0d9a5cd2fd95970c"></a><!-- doxytag: member="mrpt::math::TLine2D::TLine2D" ref="a2bf63eda14216acb0d9a5cd2fd95970c" args="()" -->
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<td class="memname">mrpt::math::TLine2D::TLine2D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<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#l00876">876</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="afbd73de8446c7dc7ab3dbcdd5499dfb4"></a><!-- doxytag: member="mrpt::math::TLine2D::TLine2D" ref="afbd73de8446c7dc7ab3dbcdd5499dfb4" args="(double A, double B, double C)" -->
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<td class="memname">mrpt::math::TLine2D::TLine2D </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>A</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>B</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>C</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Constructor from line's coefficients. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00880">880</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="a1b8d0ffc7e0827ebc04ce14351fc0ae9"></a><!-- doxytag: member="mrpt::math::TLine2D::TLine2D" ref="a1b8d0ffc7e0827ebc04ce14351fc0ae9" args="(const TLine3D &l)" -->
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<td class="memname">mrpt::math::TLine2D::TLine2D </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>l</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Construction from 3D object, discarding the Z. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a></td><td>if the line is normal to the XY plane. </td></tr>
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</dd>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a676254fbc33cb692b21ed826de4335e1"></a><!-- doxytag: member="mrpt::math::TLine2D::contains" ref="a676254fbc33cb692b21ed826de4335e1" args="(const TPoint2D &point) const " -->
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<td class="memname">bool mrpt::math::TLine2D::contains </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>point</em></td><td>)</td>
<td> const</td>
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<p>Check whether a point is inside the line. </p>
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<a class="anchor" id="a1484bc92c6516f9373049c5900d2f3a9"></a><!-- doxytag: member="mrpt::math::TLine2D::distance" ref="a1484bc92c6516f9373049c5900d2f3a9" args="(const TPoint2D &point) const " -->
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<td class="memname">double mrpt::math::TLine2D::distance </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>point</em></td><td>)</td>
<td> const</td>
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<p>Distance from a given point. </p>
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<a class="anchor" id="aeb3094624fec30e790c5c33ec13b931e"></a><!-- doxytag: member="mrpt::math::TLine2D::evaluatePoint" ref="aeb3094624fec30e790c5c33ec13b931e" args="(const TPoint2D &point) const " -->
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<td class="memname">double mrpt::math::TLine2D::evaluatePoint </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>point</em></td><td>)</td>
<td> const</td>
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<p>Evaluate point in the line's equation. </p>
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<a class="anchor" id="aa90d9ed8db445a5f52a14a1a1e3ffc77"></a><!-- doxytag: member="mrpt::math::TLine2D::generate3DObject" ref="aa90d9ed8db445a5f52a14a1a1e3ffc77" args="(TLine3D &l) const " -->
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<td class="memname">void mrpt::math::TLine2D::generate3DObject </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> & </td>
<td class="paramname"><em>l</em></td><td>)</td>
<td> const</td>
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<p>Project into 3D space, setting the z to 0. </p>
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<a class="anchor" id="a767eb25907e3bbfc9d61fad6f6406ac5"></a><!-- doxytag: member="mrpt::math::TLine2D::getAsPose2D" ref="a767eb25907e3bbfc9d61fad6f6406ac5" args="(mrpt::poses::CPose2D &outPose) const " -->
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<td class="memname">void mrpt::math::TLine2D::getAsPose2D </td>
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<td class="paramname"><em>outPose</em></td><td>)</td>
<td> const</td>
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<p>Get a pose2D whose X axis corresponds to the line. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a>. </dd></dl>
<p>Referenced by <a class="el" href="geometry_8h_source.html#l00380">mrpt::math::project2D()</a>.</p>
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<a class="anchor" id="a7b269f5d3576790080d75674d2aaa75e"></a><!-- doxytag: member="mrpt::math::TLine2D::getAsPose2DForcingOrigin" ref="a7b269f5d3576790080d75674d2aaa75e" args="(const TPoint2D &origin, mrpt::poses::CPose2D &outPose) const " -->
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<td class="memname">void mrpt::math::TLine2D::getAsPose2DForcingOrigin </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">TPoint2D</a> & </td>
<td class="paramname"><em>origin</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> & </td>
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<p>Get a pose2D whose X axis corresponds to the line, forcing the base point to one given. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname">logic_error</td><td>if the point is not inside the line. </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a>. </dd></dl>
<p>Referenced by <a class="el" href="geometry_8h_source.html#l00389">mrpt::math::project2D()</a>.</p>
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<a class="anchor" id="a5724d16fbc299db55bf40dc92e3bcc42"></a><!-- doxytag: member="mrpt::math::TLine2D::getDirectorVector" ref="a5724d16fbc299db55bf40dc92e3bcc42" args="(double(&vector)[2]) const " -->
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<td class="memname">void mrpt::math::TLine2D::getDirectorVector </td>
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<td class="paramname"><em>vector</em>[2]</td><td>)</td>
<td> const</td>
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<p>Get line's director vector. </p>
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<a class="anchor" id="ab95fb7e7b64f5bcae7bf080c6d24aa29"></a><!-- doxytag: member="mrpt::math::TLine2D::getNormalVector" ref="ab95fb7e7b64f5bcae7bf080c6d24aa29" args="(double(&vector)[2]) const " -->
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<td class="memname">void mrpt::math::TLine2D::getNormalVector </td>
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<td class="paramname"><em>vector</em>[2]</td><td>)</td>
<td> const</td>
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<p>Get line's normal vector. </p>
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<a class="anchor" id="a893248f4287a5b60efbea7504117e95b"></a><!-- doxytag: member="mrpt::math::TLine2D::getUnitaryDirectorVector" ref="a893248f4287a5b60efbea7504117e95b" args="(double(&vector)[2])" -->
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<td class="memname">void mrpt::math::TLine2D::getUnitaryDirectorVector </td>
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<td class="paramtype">double(&) </td>
<td class="paramname"><em>vector</em>[2]</td><td>)</td>
<td><code> [inline]</code></td>
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<p>Unitarize line and then get director vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00845">845</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="afd78002b85ca6101060812106b7fa2f3"></a><!-- doxytag: member="mrpt::math::TLine2D::getUnitaryNormalVector" ref="afd78002b85ca6101060812106b7fa2f3" args="(double(&vector)[2])" -->
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<td class="memname">void mrpt::math::TLine2D::getUnitaryNormalVector </td>
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<td class="paramtype">double(&) </td>
<td class="paramname"><em>vector</em>[2]</td><td>)</td>
<td><code> [inline]</code></td>
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<p>Get line's normal vector after unitarizing line. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00834">834</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="a71db3216ac3296674c3512c38eb057e0"></a><!-- doxytag: member="mrpt::math::TLine2D::signedDistance" ref="a71db3216ac3296674c3512c38eb057e0" args="(const TPoint2D &point) const " -->
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<td class="memname">double mrpt::math::TLine2D::signedDistance </td>
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<td class="paramname"><em>point</em></td><td>)</td>
<td> const</td>
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<p>Distance with sign from a given point (sign indicates side). </p>
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<a class="anchor" id="add14851f3ad381b327ea9dbf24062404"></a><!-- doxytag: member="mrpt::math::TLine2D::unitarize" ref="add14851f3ad381b327ea9dbf24062404" args="()" -->
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<td class="memname">void mrpt::math::TLine2D::unitarize </td>
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<p>Unitarize line's normal vector. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad0719679cd1e0826145e06a785937a00"></a><!-- doxytag: member="mrpt::math::TLine2D::coefs" ref="ad0719679cd1e0826145e06a785937a00" args="[3]" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00">mrpt::math::TLine2D::coefs</a>[3]</td>
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<p>Line coefficients, stored as an array: <img class="formulaInl" alt="$\left[A,B,C\right]$" src="form_33.png"/>. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00806">806</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#l02365">mrpt::math::operator>>()</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l02371">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 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
