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.

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

• Line2DPolar.hpp