A plane and related functions. More...

#include <gz/math/Plane.hh>

Public Types
enum	PlaneSide { NEGATIVE_SIDE = 0 , POSITIVE_SIDE = 1 , NO_SIDE = 2 , BOTH_SIDE = 3 }
	Enum used to indicate a side of the plane, no side, or both sides for entities on the plane. More...

Public Member Functions
	Plane ()
	Constructor.

	Plane (const Vector3< T > &_normal, const Vector2< T > &_size, T _offset)
	Constructor.

	Plane (const Vector3< T > &_normal, T _offset=0.0)
	Constructor from a normal and a distance.

T	Distance (const Vector3< T > &_origin, const Vector3< T > &_dir) const
	Get distance to the plane give an origin and direction.

T	Distance (const Vector3< T > &_point) const
	The distance to the plane from the given point. The distance can be negative, which indicates the point is on the negative side of the plane.

std::optional< Vector3< T > >	Intersection (const Vector3< T > &_point, const Vector3< T > &_gradient, const double &_tolerance=1e-6) const
	Get the intersection of an infinite line with the plane, given the line's gradient and a point in parametrized space.

Vector3< T > &	Normal ()
	Get the plane normal.

const Vector3< T > &	Normal () const
	Get the plane normal.

T	Offset () const
	Get the plane offset.

void	Set (const Vector3< T > &_normal, const Vector2< T > &_size, T _offset)
	Set the plane.

void	Set (const Vector3< T > &_normal, T _offset)
	Set the plane.

PlaneSide	Side (const math::AxisAlignedBox &_box) const
	The side of the plane a box is on.

PlaneSide	Side (const Vector3< T > &_point) const
	The side of the plane a point is on.

Vector2< T > &	Size ()
	Get the plane size.

const Vector2< T > &	Size () const
	Get the plane size.

Detailed Description

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

A plane and related functions.

Member Enumeration Documentation

◆ PlaneSide

template<typename T >

enum PlaneSide

Enum used to indicate a side of the plane, no side, or both sides for entities on the plane.

See also: Side

Enumerator
NEGATIVE_SIDE	Negative side of the plane. This is the side that is opposite the normal.
POSITIVE_SIDE	Positive side of the plane. This is the side that has the normal vector.
NO_SIDE	On the plane.
BOTH_SIDE	On both sides of the plane.

Constructor & Destructor Documentation

◆ Plane() [1/3]

template<typename T >

Plane ( )

inline

Constructor.

◆ Plane() [2/3]

template<typename T >

Plane	(	const Vector3< T > &	_normal,
		T	_offset = `0.0`
	)

inlineexplicit

Constructor from a normal and a distance.

Parameters

[in]	_normal	The plane normal
[in]	_offset	Offset along the normal

◆ Plane() [3/3]

template<typename T >

Plane	(	const Vector3< T > &	_normal,
		const Vector2< T > &	_size,
		T	_offset
	)

inline

Constructor.

Parameters

[in]	_normal	The plane normal
[in]	_size	Size of the plane
[in]	_offset	Offset along the normal

References Plane< T >::Set().

Member Function Documentation

◆ Distance() [1/2]

template<typename T >

T Distance	(	const Vector3< T > &	_origin,
		const Vector3< T > &	_dir
	)		const

inline

Get distance to the plane give an origin and direction.

Parameters

[in]	_origin	the origin
[in]	_dir	a direction

Returns: the shortest distance

◆ Distance() [2/2]

template<typename T >

T Distance ( const Vector3< T > & _point ) const

inline

The distance to the plane from the given point. The distance can be negative, which indicates the point is on the negative side of the plane.

Parameters

[in] _point 3D point to calculate distance from.

Returns: Distance from the point to the plane.

See also: Side

Referenced by Plane< T >::Side(), and Plane< T >::Side().

◆ Intersection()

template<typename T >

std::optional< Vector3< T > > Intersection	(	const Vector3< T > &	_point,
		const Vector3< T > &	_gradient,
		const double &	_tolerance = `1e-6`
	)		const

inline

Get the intersection of an infinite line with the plane, given the line's gradient and a point in parametrized space.

Parameters

[in]	_point	A point that lies on the line.
[in]	_gradient	The gradient of the line.
[in]	_tolerance	The tolerance for determining a line is parallel to the plane. Optional, default=10^-16

Returns: The point of intersection. std::nullopt if the line is parallel to the plane (including lines on the plane).

References Vector3< T >::Cross(), Vector3< T >::Dot(), Plane< T >::Normal(), Plane< T >::Offset(), and Plane< T >::Size().

◆ Normal() [1/2]

template<typename T >

Vector3< T > & Normal ( )

inline

Get the plane normal.

◆ Normal() [2/2]

template<typename T >

const Vector3< T > & Normal ( ) const

inline

Get the plane normal.

Referenced by Plane< T >::Intersection().

◆ Offset()

template<typename T >

T Offset ( ) const

inline

Get the plane offset.

Referenced by Plane< T >::Intersection().

◆ Set() [1/2]

template<typename T >

void Set	(	const Vector3< T > &	_normal,
		const Vector2< T > &	_size,
		T	_offset
	)

inline

Set the plane.

Parameters

[in]	_normal	The plane normal
[in]	_size	Size of the plane
[in]	_offset	Offset along the normal

◆ Set() [2/2]

template<typename T >

void Set	(	const Vector3< T > &	_normal,
		T	_offset
	)

inline

Set the plane.

Parameters

[in]	_normal	The plane normal
[in]	_offset	Offset along the normal

Referenced by Plane< T >::Plane().

◆ Side() [1/2]

template<typename T >

PlaneSide Side ( const math::AxisAlignedBox & _box ) const

inline

The side of the plane a box is on.

Parameters

[in] _box The 3D box to check.

Returns: Plane::NEGATIVE_SIDE if the distance from the box to the plane is negative, Plane::POSITIVE_SIDE if the distance from the box to the plane is positive, or Plane::BOTH_SIDE if the box is on the plane.

References Plane< T >::BOTH_SIDE, AxisAlignedBox::Center(), Plane< T >::Distance(), Plane< T >::NEGATIVE_SIDE, and Plane< T >::POSITIVE_SIDE.

◆ Side() [2/2]

template<typename T >

PlaneSide Side ( const Vector3< T > & _point ) const

inline

The side of the plane a point is on.

Parameters

[in] _point The 3D point to check.

Returns: Plane::NEGATIVE_SIDE if the distance from the point to the plane is negative, Plane::POSITIVE_SIDE if the distance from the point to the plane is positive, or Plane::NO_SIDE if the point is on the plane.

References Plane< T >::Distance(), Plane< T >::NEGATIVE_SIDE, Plane< T >::NO_SIDE, and Plane< T >::POSITIVE_SIDE.

◆ Size() [1/2]

template<typename T >

Vector2< T > & Size ( )

inline

Get the plane size.

◆ Size() [2/2]

template<typename T >

const Vector2< T > & Size ( ) const

inline

Get the plane size.

Referenced by Plane< T >::Intersection().

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

Plane.hh

Gazebo Math

API Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ PlaneSide

Constructor & Destructor Documentation

◆ Plane() [1/3]

◆ Plane() [2/3]

◆ Plane() [3/3]

Member Function Documentation

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ Intersection()

◆ Normal() [1/2]

◆ Normal() [2/2]

◆ Offset()

◆ Set() [1/2]

◆ Set() [2/2]

◆ Side() [1/2]

◆ Side() [2/2]

◆ Size() [1/2]

◆ Size() [2/2]