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Line2DPolar Class Reference

Describes a line in 2D in polar coordinates. More...

#include <Line2DPolar.hpp>

Public Member Functions

 Line2DPolar (double rho=0, double theta=0)
 constructor More...
 
 Line2DPolar (const rw::math::Vector2D<> &pnt, double theta)
 constructor More...
 
 Line2DPolar (const rw::math::Vector2D<> &start, const rw::math::Vector2D<> &end)
 constructor - The line moving through the segment from 'start' to 'end'. More...
 
 Line2DPolar (const Line2D &line)
 constructor - The line moving through the line segment. More...
 
double getRho () const
 the shortest distance from origo the line More...
 
double getTheta () const
 angle in radians from x-axis up to the line that connects the origo and the point on the line that is closest to origo. More...
 
rw::math::Vector2D calcNormal () const
 get normal of line
 
double dist2 (const rw::math::Vector2D<> &pnt) const
 The L_2 distance from 'pnt' to the line.
 

Static Public Member Functions

static rw::math::Vector2D projectionPoint (const Line2DPolar &line, const rw::math::Vector2D<> &pnt)
 The point for the projection of 'pnt' onto 'line'.
 
static rw::math::Vector2D linePoint (const Line2DPolar &line)
 A supporting point on the line (equal to rho * normal).
 
static rw::math::Vector2D normalProjectionVector (const Line2DPolar &line, const rw::math::Vector2D<> &pnt)
 The vector for the projection of pnt onto the normal of line. More...
 
static Line2DPolar lineToLocal (const rw::math::Pose2D<> &pose, const Line2DPolar &line)
 line given relative to the coordinate frame of pose. More...
 

Related Functions

(Note that these are not member functions.)

template<>
void write (const rw::math::Line2DPolar &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
 
template<>
void read (rw::math::Line2DPolar &sobject, rw::common::InputArchive &iarchive, const std::string &id)
 

Detailed Description

Describes a line in 2D in polar coordinates.

Constructor & Destructor Documentation

◆ Line2DPolar() [1/4]

Line2DPolar ( double  rho = 0,
double  theta = 0 
)

constructor

rho * (cos(theta), sin(theta)) is the point on the line nearest to origo.

Parameters
rho[in] distance to the point on line which is closest to origo
theta[in] angle from x-axis up to the line that connects the origo and the point on the line that is closest to origo.

◆ Line2DPolar() [2/4]

Line2DPolar ( const rw::math::Vector2D<> &  pnt,
double  theta 
)

constructor

Parameters
pnt[in] is any point on the line
theta[in] angle in radians from x-axis up to the line that connects the origo and the point on the line that is closest to origo.

◆ Line2DPolar() [3/4]

Line2DPolar ( const rw::math::Vector2D<> &  start,
const rw::math::Vector2D<> &  end 
)

constructor - The line moving through the segment from 'start' to 'end'.

Parameters
start[in] point on line
end[in] point on line

◆ Line2DPolar() [4/4]

Line2DPolar ( const Line2D line)

constructor - The line moving through the line segment.

Parameters
line[in] the line described as a segment

Member Function Documentation

◆ getRho()

double getRho ( ) const
inline

the shortest distance from origo the line

Returns

◆ getTheta()

double getTheta ( ) const
inline

angle in radians from x-axis up to the line that connects the origo and the point on the line that is closest to origo.

Returns

◆ lineToLocal()

static Line2DPolar lineToLocal ( const rw::math::Pose2D<> &  pose,
const Line2DPolar line 
)
static

line given relative to the coordinate frame of pose.

Parameters
pose[in] the pose.
line[in] the line.
Returns
a Line2DPolar.

◆ normalProjectionVector()

static rw::math::Vector2D normalProjectionVector ( const Line2DPolar line,
const rw::math::Vector2D<> &  pnt 
)
static

The vector for the projection of pnt onto the normal of line.

Parameters
line[in] a line.
pnt[in] a point.
Returns
the projection vector.

Friends And Related Function Documentation

◆ read()

void read ( rw::math::Line2DPolar sobject,
rw::common::InputArchive iarchive,
const std::string &  id 
)
related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters
sobject[out] the object in which the data should be streamed into
iarchive[in] the InputArchive from which to read data.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write()

void write ( const rw::math::Line2DPolar sobject,
rw::common::OutputArchive oarchive,
const std::string &  id 
)
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
sobject[in] the object from which the data should be streamed.
oarchive[out] the OutputArchive in which data should be written.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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