/usr/include/visp/vpPlane.h is in libvisp-dev 2.9.0-3+b2.
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*
* $Id: vpPlane.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Plane geometrical structure.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpPlane_hh
#define vpPlane_hh
/*!
\class vpPlane
\ingroup GeometryPlane
\brief This class defines the container for a plane geometrical structure.
A plane is given by the equation \f$Ax + By + Cz + D = 0\f$ where
(x,y,z) are the coordinates of a point and where \f$[A,B,C]^T\f$ is a normal
vector of the plane.
*/
#include <visp/vpColVector.h>
#include <visp/vpPoint.h>
#include <visp/vpHomogeneousMatrix.h>
class VISP_EXPORT vpPlane
{
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
// for backward compatibility
public:
#else
private:
#endif
double A,B,C,D ;
public:
vpPlane() ;
vpPlane(const vpPlane& P) ;
vpPlane(const double A, const double B,const double C,const double D) ;
vpPlane(const vpPoint& P, const vpColVector &n) ;
vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R) ;
void init(const vpPoint& P, const vpPoint& Q, const vpPoint& R) ;
void init(const vpColVector& P, const vpColVector &n) ;
void init(const vpPlane& P) ;
// SET the parameter
/*! Set plane parameter A. */
inline void setA(const double a) { this->A = a ; }
/*! Set plane parameter B. */
inline void setB(const double b) { this->B = b ; }
/*! Set plane parameter C. */
inline void setC(const double c) { this->C = c ; }
/*! Set plane parameter D. */
inline void setD(const double d) { this->D = d ; }
/*! Set plane parameters A, B, C, D. */
inline void setABCD(const double a, const double b,
const double c, const double d)
{
this->A = a;
this->B = b;
this->C = c;
this->D = d;
}
vpPlane& operator =(const vpPlane& f) ;
// GET information
/*! \return The value of the plane parameter A. */
double getA() const { return A ; }
/*! \return The value of the plane parameter B. */
double getB() const { return B ; }
/*! \return The value of the plane parameter C. */
double getC() const { return C ; }
/*! \return The value of the plane parameter D. */
double getD() const { return D ; }
/*!
\return Return the four dimension vector \f$[A,B,C,D]^T\f$
corresponding to the plane parameters.
*/
inline vpColVector getABCD() const {
vpColVector n(4);
n[0]=A;
n[1]=B;
n[2]=C;
n[3]=D;
return n;
}
/*!
\warning This method is provided for compatibility with the
previous versions. Users should now use getABCD().
\return Return the four dimension vector \f$[A,B,C,D]^T\f$
corresponding to the plane parameters.
\sa getABCD()
*/
inline vpColVector abcd() const {
vpColVector n(4);
n[0]=A;
n[1]=B;
n[2]=C;
n[3]=D;
return n;
}
vpColVector getNormal() const;
void getNormal(vpColVector &n) const;
friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpPlane& p);
// Operation with Plane
void projectionPointOnPlan(const vpPoint& P, vpPoint& Pproj) const ;
double rayIntersection(const vpPoint &M0,
const vpPoint &M1,
vpColVector &H )const ;
double getIntersection(const vpColVector &M1,vpColVector &H )const ;
void changeFrame(const vpHomogeneousMatrix &cMo);
} ;
#endif
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