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<li class="navelem"><a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</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::TLine3D 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::TLine3D" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>3D line, represented by a base point and a director vector. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>,<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_plane.html" title="3D Plane, represented by its equation ">TPlane</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>
</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_line3_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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html#a44d1e41d035009842d58b451d1320819">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 inside the line. <a href="#a44d1e41d035009842d58b451d1320819"></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_line3_d.html#a46670fe1c22b0a728b22623aee311636">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 between the line and a point. <a href="#a46670fe1c22b0a728b22623aee311636"></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_line3_d.html#a88d0c66bf2db7602ee91b6ba595fd965">unitarize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize director vector. <a href="#a88d0c66bf2db7602ee91b6ba595fd965"></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_line3_d.html#a9bafeb5d9c3b5b266270728e2c2ad8e5">getDirectorVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[3]) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get director vector. <a href="#a9bafeb5d9c3b5b266270728e2c2ad8e5"></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_line3_d.html#ad576c07105cd8e221c4705d1f01ff0a9">getUnitaryDirectorVector</a> (double(&<a class="el" href="classstd_1_1vector.html">vector</a>)[3])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unitarize and then get director vector. <a href="#ad576c07105cd8e221c4705d1f01ff0a9"></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_line3_d.html#a90e4ea92b1403dac1390ccf3aded31c9">generate2DObject</a> (<a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html">TLine2D</a> &l) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project into 2D space, discarding the Z coordinate. <a href="#a90e4ea92b1403dac1390ccf3aded31c9"></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_line3_d.html#ac3bcef7e1b114aa4fa980d141280e112">TLine3D</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) 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="#ac3bcef7e1b114aa4fa980d141280e112"></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_line3_d.html#adfa7fb1e2e92c7bb78433c13e88cc5d0">TLine3D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html">TSegment3D</a> &s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from 3D segment. <a href="#adfa7fb1e2e92c7bb78433c13e88cc5d0"></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_line3_d.html#a0665ebd41d4154fb90383003c1a0245d">TLine3D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fast default constructor. <a href="#a0665ebd41d4154fb90383003c1a0245d"></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_line3_d.html#aeeaae9455d65994c5d55aaffcb69c1ed">TLine3D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html">TLine2D</a> &l)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implicit constructor from 2D object. <a href="#aeeaae9455d65994c5d55aaffcb69c1ed"></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"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html#ad82681ef5a27b2bd32e29961f2bf3ec4">pBase</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Base point. <a href="#ad82681ef5a27b2bd32e29961f2bf3ec4"></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_line3_d.html#a455f8295bb6777994e3aabeee8df43fe">director</a> [3]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Director vector. <a href="#a455f8295bb6777994e3aabeee8df43fe"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ac3bcef7e1b114aa4fa980d141280e112"></a><!-- doxytag: member="mrpt::math::TLine3D::TLine3D" ref="ac3bcef7e1b114aa4fa980d141280e112" args="(const TPoint3D &p1, const TPoint3D &p2)" -->
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<td class="memname">mrpt::math::TLine3D::TLine3D </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>
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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></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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<div class="memdoc">
<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"><a class="el" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a></td><td>if both points are the same. </td></tr>
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</dd>
</dl>
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<a class="anchor" id="adfa7fb1e2e92c7bb78433c13e88cc5d0"></a><!-- doxytag: member="mrpt::math::TLine3D::TLine3D" ref="adfa7fb1e2e92c7bb78433c13e88cc5d0" args="(const TSegment3D &s)" -->
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<td class="memname">mrpt::math::TLine3D::TLine3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_segment3_d.html">TSegment3D</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 3D segment. </p>
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<a class="anchor" id="a0665ebd41d4154fb90383003c1a0245d"></a><!-- doxytag: member="mrpt::math::TLine3D::TLine3D" ref="a0665ebd41d4154fb90383003c1a0245d" args="()" -->
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<td class="memname">mrpt::math::TLine3D::TLine3D </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#l00950">950</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="aeeaae9455d65994c5d55aaffcb69c1ed"></a><!-- doxytag: member="mrpt::math::TLine3D::TLine3D" ref="aeeaae9455d65994c5d55aaffcb69c1ed" args="(const TLine2D &l)" -->
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<td class="memname">mrpt::math::TLine3D::TLine3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html">TLine2D</a> & </td>
<td class="paramname"><em>l</em></td><td>)</td>
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<p>Implicit constructor from 2D object. </p>
<p>Zeroes the z. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a44d1e41d035009842d58b451d1320819"></a><!-- doxytag: member="mrpt::math::TLine3D::contains" ref="a44d1e41d035009842d58b451d1320819" args="(const TPoint3D &point) const " -->
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<td class="memname">bool mrpt::math::TLine3D::contains </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>point</em></td><td>)</td>
<td> const</td>
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<div class="memdoc">
<p>Check whether a point is inside the line. </p>
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<a class="anchor" id="a46670fe1c22b0a728b22623aee311636"></a><!-- doxytag: member="mrpt::math::TLine3D::distance" ref="a46670fe1c22b0a728b22623aee311636" args="(const TPoint3D &point) const " -->
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<td class="memname">double mrpt::math::TLine3D::distance </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>point</em></td><td>)</td>
<td> const</td>
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<p>Distance between the line and a point. </p>
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<a class="anchor" id="a90e4ea92b1403dac1390ccf3aded31c9"></a><!-- doxytag: member="mrpt::math::TLine3D::generate2DObject" ref="a90e4ea92b1403dac1390ccf3aded31c9" args="(TLine2D &l) const " -->
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<td class="memname">void mrpt::math::TLine3D::generate2DObject </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_line2_d.html">TLine2D</a> & </td>
<td class="paramname"><em>l</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Project into 2D space, discarding the Z coordinate. </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's director vector is orthogonal to the XY plane. </td></tr>
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</dd>
</dl>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00935">935</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="a9bafeb5d9c3b5b266270728e2c2ad8e5"></a><!-- doxytag: member="mrpt::math::TLine3D::getDirectorVector" ref="a9bafeb5d9c3b5b266270728e2c2ad8e5" args="(double(&vector)[3]) const " -->
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<td class="memname">void mrpt::math::TLine3D::getDirectorVector </td>
<td>(</td>
<td class="paramtype">double(&) </td>
<td class="paramname"><em>vector</em>[3]</td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Get director vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00921">921</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="ad576c07105cd8e221c4705d1f01ff0a9"></a><!-- doxytag: member="mrpt::math::TLine3D::getUnitaryDirectorVector" ref="ad576c07105cd8e221c4705d1f01ff0a9" args="(double(&vector)[3])" -->
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<td class="memname">void mrpt::math::TLine3D::getUnitaryDirectorVector </td>
<td>(</td>
<td class="paramtype">double(&) </td>
<td class="paramname"><em>vector</em>[3]</td><td>)</td>
<td><code> [inline]</code></td>
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<p>Unitarize and then get director vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00927">927</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="a88d0c66bf2db7602ee91b6ba595fd965"></a><!-- doxytag: member="mrpt::math::TLine3D::unitarize" ref="a88d0c66bf2db7602ee91b6ba595fd965" args="()" -->
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<td class="memname">void mrpt::math::TLine3D::unitarize </td>
<td>(</td>
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<p>Unitarize director vector. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a455f8295bb6777994e3aabeee8df43fe"></a><!-- doxytag: member="mrpt::math::TLine3D::director" ref="a455f8295bb6777994e3aabeee8df43fe" args="[3]" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe">mrpt::math::TLine3D::director</a>[3]</td>
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<p>Director vector. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00905">905</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#l02400">mrpt::math::operator>>()</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l02406">mrpt::math::operator<<()</a>.</p>
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<a class="anchor" id="ad82681ef5a27b2bd32e29961f2bf3ec4"></a><!-- doxytag: member="mrpt::math::TLine3D::pBase" ref="ad82681ef5a27b2bd32e29961f2bf3ec4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html#ad82681ef5a27b2bd32e29961f2bf3ec4">mrpt::math::TLine3D::pBase</a></td>
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<p>Base point. </p>
<p>Definition at line <a class="el" href="lightweight__geom__data_8h_source.html#l00901">901</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#l02400">mrpt::math::operator>>()</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l02406">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>
