A three dimensional line segment. The line is defined by a start and end point. More...

#include <gz/math/Line3.hh>

Public Member Functions
	Line3 ()=default
	Line Constructor.

	Line3 (const double _x1, const double _y1, const double _x2, const double _y2)
	2D Constructor where Z coordinates are 0

	Line3 (const double _x1, const double _y1, const double _z1, const double _x2, const double _y2, const double _z2)
	Constructor.

	Line3 (const math::Vector3< T > &_ptA, const math::Vector3< T > &_ptB)
	Constructor.

bool	Coplanar (const Line3< T > &_line, const double _epsilon=1e-6) const
	Test if this line and the given line are coplanar.

math::Vector3< T >	Direction () const
	Get the direction of the line.

bool	Distance (const Line3< T > &_line, Line3< T > &_result, const double _epsilon=1e-6) const
	Get the shortest line between this line and the provided line.

T	Distance (const Vector3< T > &_pt)
	Calculate shortest distance between line and point.

bool	Intersect (const Line3< T > &_line, double _epsilon=1e-6) const
	Check if this line intersects the given line segment.

bool	Intersect (const Line3< T > &_line, math::Vector3< T > &_pt, double _epsilon=1e-6) const
	Check if this line intersects the given line segment. The point of intersection is returned in the _pt parameter.

T	Length () const
	Get the length of the line.

bool	operator!= (const Line3< T > &_line) const
	Inequality operator.

bool	operator== (const Line3< T > &_line) const
	Equality operator.

math::Vector3< T >	operator[] (const size_t _index) const
	Get the start or end point.

bool	Parallel (const Line3< T > &_line, const double _epsilon=1e-6) const
	Test if this line and the given line are parallel.

void	Set (const double _x1, const double _y1, const double _x2, const double _y2, const double _z=0)
	Set the start and end point of the line segment, assuming that both points have the same height.

void	Set (const double _x1, const double _y1, const double _z1, const double _x2, const double _y2, const double _z2)
	Set the start and end point of the line segment.

void	Set (const math::Vector3< T > &_ptA, const math::Vector3< T > &_ptB)
	Set the start and end point of the line segment.

void	SetA (const math::Vector3< T > &_ptA)
	Set the start point of the line segment.

void	SetB (const math::Vector3< T > &_ptB)
	Set the end point of the line segment.

bool	Within (const math::Vector3< T > &_pt, double _epsilon=1e-6) const
	Check if the given point is between the start and end points of the line segment.

Detailed Description

template<typename T>
class gz::math::Line3< T >

A three dimensional line segment. The line is defined by a start and end point.

Constructor & Destructor Documentation

◆ Line3() [1/4]

template<typename T >

Line3 ( )

default

Line Constructor.

◆ Line3() [2/4]

template<typename T >

Line3	(	const math::Vector3< T > &	_ptA,
		const math::Vector3< T > &	_ptB
	)

inline

Constructor.

Parameters

[in]	_ptA	Start point of the line segment
[in]	_ptB	End point of the line segment

References Line3< T >::Set().

◆ Line3() [3/4]

template<typename T >

Line3	(	const double	_x1,
		const double	_y1,
		const double	_x2,
		const double	_y2
	)

inline

2D Constructor where Z coordinates are 0

Parameters

[in]	_x1	X coordinate of the start point.
[in]	_y1	Y coordinate of the start point.
[in]	_x2	X coordinate of the end point.
[in]	_y2	Y coordinate of the end point.

References Line3< T >::Set().

◆ Line3() [4/4]

template<typename T >

Line3	(	const double	_x1,
		const double	_y1,
		const double	_z1,
		const double	_x2,
		const double	_y2,
		const double	_z2
	)

inline

Constructor.

Parameters

[in]	_x1	X coordinate of the start point.
[in]	_y1	Y coordinate of the start point.
[in]	_z1	Z coordinate of the start point.
[in]	_x2	X coordinate of the end point.
[in]	_y2	Y coordinate of the end point.
[in]	_z2	Z coordinate of the end point.

References Line3< T >::Set().

Member Function Documentation

◆ Coplanar()

template<typename T >

bool Coplanar	(	const Line3< T > &	_line,
		const double	_epsilon = `1e-6`
	)		const

inline

Test if this line and the given line are coplanar.

Parameters

[in]	_line	Line to check against.
[in]	_epsilon	The error bounds within which the check will return true.

Returns: True if the two lines are coplanar.

◆ Direction()

template<typename T >

math::Vector3< T > Direction ( ) const

inline

Get the direction of the line.

Returns: The direction vector

◆ Distance() [1/2]

template<typename T >

bool Distance	(	const Line3< T > &	_line,
		Line3< T > &	_result,
		const double	_epsilon = `1e-6`
	)		const

inline

Get the shortest line between this line and the provided line.

In the case when the two lines are parallel, we choose the first point of this line and the closest point in the provided line.

Parameters

[in]	_line	Line to compare against this.
[out]	_result	The shortest line between _line and this.
[in]	_epsilon	Error tolerance.

Returns: True if a solution was found. False if a solution is not possible.

References gz::math::clamp(), and Matrix6< T >::Set().

Referenced by Line3< T >::Intersect().

◆ Distance() [2/2]

template<typename T >

T Distance ( const Vector3< T > & _pt )

inline

Calculate shortest distance between line and point.

Parameters

[in] _pt Point which we are measuring distance to.

Returns: Distance from point to line.

◆ Intersect() [1/2]

template<typename T >

bool Intersect	(	const Line3< T > &	_line,
		double	_epsilon = `1e-6`
	)		const

inline

Check if this line intersects the given line segment.

Parameters

[in]	_line	The line to check for intersection.
[in]	_epsilon	The error bounds within which the intersection check will return true.

Returns: True if an intersection was found.

References Line3< T >::Intersect().

Referenced by Line3< T >::Intersect().

◆ Intersect() [2/2]

template<typename T >

bool Intersect	(	const Line3< T > &	_line,
		math::Vector3< T > &	_pt,
		double	_epsilon = `1e-6`
	)		const

inline

Check if this line intersects the given line segment. The point of intersection is returned in the _pt parameter.

Parameters

[in]	_line	The line to check for intersection.
[out]	_pt	The point of intersection. This value is only valid if the return value is true.
[in]	_epsilon	The error bounds within which the intersection check will return true.

Returns: True if an intersection was found.

References Line3< T >::Distance(), Line3< T >::Parallel(), and Line3< T >::Within().

◆ Length()

template<typename T >

T Length ( ) const

inline

Get the length of the line.

Returns: The length of the line.

◆ operator!=()

template<typename T >

bool operator!= ( const Line3< T > & _line ) const

inline

Inequality operator.

Parameters

[in] _line Line to compare for inequality.

Returns: True if the given line is not to this line

◆ operator==()

template<typename T >

bool operator== ( const Line3< T > & _line ) const

inline

Equality operator.

Parameters

[in] _line Line to compare for equality.

Returns: True if the given line is equal to this line

◆ operator[]()

template<typename T >

math::Vector3< T > operator[] ( const size_t _index ) const

inline

Get the start or end point.

Parameters

[in] _index 0 = start point, 1 = end point. The _index parameter is clamped to the range [0, 1].

References gz::math::clamp(), gz::math::GZ_ONE_SIZE_T, and gz::math::GZ_ZERO_SIZE_T.

◆ Parallel()

template<typename T >

bool Parallel	(	const Line3< T > &	_line,
		const double	_epsilon = `1e-6`
	)		const

inline

Test if this line and the given line are parallel.

Parameters

[in]	_line	Line to check against.
[in]	_epsilon	The error bounds within which the check will return true.

Returns: True if the two lines are parallel.

Referenced by Line3< T >::Intersect().

◆ Set() [1/3]

template<typename T >

void Set	(	const double	_x1,
		const double	_y1,
		const double	_x2,
		const double	_y2,
		const double	_z = `0`
	)

inline

Set the start and end point of the line segment, assuming that both points have the same height.

Parameters

[in]	_x1	X coordinate of the start point.
[in]	_y1	Y coordinate of the start point.
[in]	_x2	X coordinate of the end point.
[in]	_y2	Y coordinate of the end point.
[in]	_z	Z coordinate of both points, by default _z is set to 0.

References Matrix6< T >::Set().

◆ Set() [2/3]

template<typename T >

void Set	(	const double	_x1,
		const double	_y1,
		const double	_z1,
		const double	_x2,
		const double	_y2,
		const double	_z2
	)

inline

Set the start and end point of the line segment.

Parameters

[in]	_x1	X coordinate of the start point.
[in]	_y1	Y coordinate of the start point.
[in]	_z1	Z coordinate of the start point.
[in]	_x2	X coordinate of the end point.
[in]	_y2	Y coordinate of the end point.
[in]	_z2	Z coordinate of the end point.

References Matrix6< T >::Set().

◆ Set() [3/3]

template<typename T >

void Set	(	const math::Vector3< T > &	_ptA,
		const math::Vector3< T > &	_ptB
	)

inline

Set the start and end point of the line segment.

Parameters

[in]	_ptA	Start point of the line segment
[in]	_ptB	End point of the line segment

Referenced by Line3< T >::Line3(), Line3< T >::Line3(), and Line3< T >::Line3().

◆ SetA()

template<typename T >

void SetA ( const math::Vector3< T > & _ptA )

inline

Set the start point of the line segment.

Parameters

[in] _ptA Start point of the line segment

◆ SetB()

template<typename T >

void SetB ( const math::Vector3< T > & _ptB )

inline

Set the end point of the line segment.

Parameters

[in] _ptB End point of the line segment

◆ Within()

template<typename T >

bool Within	(	const math::Vector3< T > &	_pt,
		double	_epsilon = `1e-6`
	)		const

inline

Check if the given point is between the start and end points of the line segment.

Parameters

[in]	_pt	Point to check.
[in]	_epsilon	The error bounds within which the within check will return true.

Returns: True if the point is on the segement.

References std::max(), and std::min().

Referenced by Line3< T >::Intersect().

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

Line3.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Line3() [1/4]

◆ Line3() [2/4]

◆ Line3() [3/4]

◆ Line3() [4/4]

Member Function Documentation

◆ Coplanar()

◆ Direction()

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ Intersect() [1/2]

◆ Intersect() [2/2]

◆ Length()

◆ operator!=()

◆ operator==()

◆ operator[]()

◆ Parallel()

◆ Set() [1/3]

◆ Set() [2/3]

◆ Set() [3/3]

◆ SetA()

◆ SetB()

◆ Within()