ArLineSegment Class Reference

This is the class for a line segment to do some geometric manipulation. More...

#include <ariaUtil.h>

Inheritance diagram for ArLineSegment:

List of all members.

Public Member Functions
	ArLineSegment (ArPose pose1, ArPose pose2)
	Constructor with endpoints as poses.
	ArLineSegment (double x1, double y1, double x2, double y2)
	Constructor with endpoints.
	ArLineSegment ()
	Constructor.
const double	getA (void) const
	Gets the A line parameter.
const double	getB (void) const
	Gets the B line parameter.
const double	getC (void) const
	Gets the C line parameter.
double	getDistToLine (const ArPose pose)
	Gets the distance from the line to a point.
ArPose	getEndPoint1 (void) const
	Gets the endpoint of X1, Y1.
ArPose	getEndPoint2 (void) const
	Gets the endpoint of X2, Y2.
const ArLine *	getLine (void) const
double	getPerpDist (const ArPose pose)
	Gets the distance from the line to a point perp with the line.
bool	getPerpPoint (const ArPose *pose, ArPose *perpPoint)
	Gets the point at which the given pose is perpindicular to the line.
bool	getPerpPoint (ArPose pose, ArPose *perpPoint)
	Gets the point at which the given pose is perpindicular to the line.
const double	getX1 (void) const
	Gets the x coordinate of the first endpoint (only use on segments).
const double	getX2 (void) const
	Gets the x coordinate of the second endpoint (only use on segments).
const double	getY1 (void) const
	Gets the y coordinate of the first endpoint (only use on segments).
const double	getY2 (void) const
	Gets the y coordinate of the second endpoint (only use on segments).
bool	intersects (ArLineSegment *line, ArPose *pose)
	Sees if a line segment intersects with this segment.
bool	intersects (const ArLine *line, ArPose *pose)
	Sees if a line intersects with this segment.
const bool	linePointIsInSegment (ArPose *pose) const
	Internal function for seeing if a point on our line is within our segment.
void	newEndPoints (double x1, double y1, double x2, double y2)
	Gives the line some new end points (makes it a segment).
virtual	~ArLineSegment ()
	Destructor.
Protected Attributes
ArPose	myIntersection
ArLine	myLine
ArLine	myPerpLine
double	myX1
	Internal function to set the parameters of the line from endpoitns.
double	myX2
	Internal function to set the parameters of the line from endpoitns.
double	myY1
	Internal function to set the parameters of the line from endpoitns.
double	myY2
	Internal function to set the parameters of the line from endpoitns.

---

Detailed Description

This is the class for a line segment to do some geometric manipulation.

Definition at line 852 of file ariaUtil.h.

---

Member Function Documentation

double ArLineSegment::getDistToLine (  const ArPose  pose  )  [inline]

Gets the distance from the line to a point. Parameters: pose  the pointer of the pose to find the distance to Returns: Definition at line 966 of file ariaUtil.h. References ArPose::findDistanceTo(), ArUtil::findMin(), getEndPoint1(), getEndPoint2(), intersects(), and ArLine::makeLinePerp(). Referenced by ArActionTriangleDriveTo::findTriangle().

double ArLineSegment::getPerpDist (  const ArPose  pose  )  [inline]

Gets the distance from the line to a point perp with the line. Parameters: pose  the pointer of the pose to find the perp point of Returns: if the pose does not intersect segment it will return < 0 if the pose intersects the segment it will return the distance to the intersection Definition at line 952 of file ariaUtil.h. References ArPose::findDistanceTo(), intersects(), and ArLine::makeLinePerp(). Referenced by ArForbiddenRangeDevice::processReadings().

bool ArLineSegment::getPerpPoint (  const ArPose *  pose, ArPose *  perpPoint )  [inline]

Gets the point at which the given pose is perpindicular to the line. This is just a faster version for certain critical spots than the above one... use the above one if you can... If the point is beyond either segment end this will return false Parameters: pose  the pointer of the pose to find the perp point of perpPoint  the pointer of the pose to set to the found point Returns: true if the pose is within the bounds of the line segment Definition at line 939 of file ariaUtil.h. References intersects(), and ArLine::makeLinePerp().

bool ArLineSegment::getPerpPoint (  ArPose  pose, ArPose *  perpPoint )  [inline]

Gets the point at which the given pose is perpindicular to the line. If the point is beyond either segment end this will return false Parameters: pose  the pointer of the pose to find the perp point of pose  the pointer of the pose to set to the found point Returns: true if the pose is within the bounds of the line segment Definition at line 923 of file ariaUtil.h. References intersects(), and ArLine::makeLinePerp(). Referenced by ArSick::filterAddAndCleanCumulative().

bool ArLineSegment::intersects (  ArLineSegment *  line, ArPose *  pose )  [inline]

Sees if a line segment intersects with this segment. Parameters: line  the line segment to check if it intersects with this line pose  if the lines intersect, the pose is set to the location Returns: true if they intersect, false if they do not Definition at line 902 of file ariaUtil.h. References ArLine::intersects(), linePointIsInSegment(), and ArPose::setPose().

bool ArLineSegment::intersects (  const ArLine *  line, ArPose *  pose )  [inline]

Sees if a line intersects with this segment. Parameters: line  the line to check if it intersects with this line pose  if the lines intersect, the pose is set to the location Returns: true if they intersect, false if they do not Definition at line 883 of file ariaUtil.h. References ArLine::intersects(), linePointIsInSegment(), and ArPose::setPose(). Referenced by getDistToLine(), getPerpDist(), and getPerpPoint().

---

The documentation for this class was generated from the following file:

• ariaUtil.h

---