Package org.robwork.sdurw_geometry

Class Plane

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.Primitive

org.robwork.sdurw_geometry.Plane

public class Plane
extends Primitive

plane primitive represented in Hessian normal-form: a*nx+b*ny+c*nz+d=0

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
Plane()	Constructor. Makes a plane on X-Y surface.
Plane(long cPtr, boolean cMemoryOwn)
Plane(Q q)	constructor
Plane(Vector3D n, double d)	constructor
Plane(Vector3D p1, Vector3D p2, Vector3D p3)	constructor - calculates the plane from 3 vertices

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	createMesh(int resolution)	make a trimesh from this primitive.
TriMeshPtr	createMesh(int resolution, double size)	Create a triangle mesh representing the plane. Provides the posibility to specify the size of the plan.
SWIGTYPE_p_double	d()	get distance to {0,0,0} from plane along normal.
void	delete()
double	distance(Plane plane)	Default metric for computing the difference between 2 planes
double	distance(Vector3D point)	Calculates the shortest distance from point to plane. The distance includes the sign s.t.
static long	getCPtr(Plane obj)
Q	getParameters()	get the parameters that define this primitive
GeometryData.GeometryType	getType()	the type of this primitive
Vector3D	intersection(Vector3D p1, Vector3D p2)	Calculates the intersection between the line and plane. The line defined by p1 and p2 is considered infinitely long. Throws a rw::core::Exception if the line is parallel to the plane.
static MetricPlanePtr	makeMetric()	Create a metric that can be used to compare distance between two planes.
static MetricPlanePtr	makeMetric(double angToDistWeight)	Create a metric that can be used to compare distance between two planes.
Vector3D	normal()	get plane normal
double	refit(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t data)	Fit this plane to a set of points. A PCA analysis of the points are made and the two axes with largest extends are used for defining the plane.
void	setParameters(Q q)	set the parameters that define this primitive
java.lang.String	toString()

Methods inherited from class org.robwork.sdurw_geometry.Primitive

getCPtr, getTriMesh, getTriMesh, isConvex, isInside

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Plane

public Plane(long cPtr,
             boolean cMemoryOwn)

Plane

public Plane()

Constructor.

Makes a plane on X-Y surface.

Plane

public Plane(Q q)

constructor

Parameters:

q -

Plane

public Plane(Vector3D n,
             double d)

constructor

Parameters:

n - [in] normal of plane

d - [in] distance from plane to (0,0,0) in direction of normal

Plane

public Plane(Vector3D p1,
             Vector3D p2,
             Vector3D p3)

constructor - calculates the plane from 3 vertices

Parameters:

p1 - [in] vertice 1

p2 - [in] vertice 2

p3 - [in] vertice 3

Method Detail

getCPtr

public static long getCPtr(Plane obj)

delete

public void delete()

Overrides:

delete in class Primitive

normal

public Vector3D normal()

get plane normal

d

public SWIGTYPE_p_double d()

get distance to {0,0,0} from plane along normal.

distance

public double distance(Vector3D point)

Calculates the shortest distance from point to plane.

The distance includes the sign s.t. a negative distance corresponds to point
being behind the plane and a positive distance in front of the plane.

Parameters:

point -

distance

public double distance(Plane plane)

Default metric for computing the difference between 2 planes

Parameters:

plane - [in]

refit

public double refit(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t data)

Fit this plane to a set of points.

A PCA analysis of the points are made and the two axes with
largest extends are used for defining the plane. The error is the
sum of the squared mean of the points to the plane.

The plane normal always points in the positive z-direction.

Parameters:

data - [in] a set of points

Returns:

fitting error

intersection

public Vector3D intersection(Vector3D p1,
                             Vector3D p2)

Calculates the intersection between the line and plane.

The line defined by p1 and p2 is considered infinitely long.
Throws a rw::core::Exception if the line is parallel to the plane.

Parameters:

p1 - [in] point 1 on the line

p2 - [in] point 2 on the line

createMesh

public TriMeshPtr createMesh(int resolution)

Description copied from class: Primitive

make a trimesh from this primitive. Use granularity to
specify minimum number of line segments a half circle is split into

Overrides:

createMesh in class Primitive

Parameters:

resolution - [in]

createMesh

public TriMeshPtr createMesh(int resolution,
                             double size)

Create a triangle mesh representing the plane.

Provides the posibility to specify the size of the plan.

Parameters:

resolution - [in] Resolution of the mesh (not applicable for a plane)

size - [in] Size of the plane.

getParameters

public Q getParameters()

Description copied from class: Primitive

get the parameters that define this primitive

Overrides:

getParameters in class Primitive

setParameters

public void setParameters(Q q)

Description copied from class: Primitive

set the parameters that define this primitive

Overrides:

setParameters in class Primitive

getType

public GeometryData.GeometryType getType()

Description copied from class: GeometryData

the type of this primitive

Overrides:

getType in class GeometryData

makeMetric

public static MetricPlanePtr makeMetric(double angToDistWeight)

Create a metric that can be used to compare distance between
two planes. The distance between two planes is computed as follows:

val = 0.5*angle(p1.normal, p2.normal)*angToDistWeight + 0.5*fabs(p1.d-p2.d);

Returns:

distance metric

makeMetric

public static MetricPlanePtr makeMetric()

Create a metric that can be used to compare distance between
two planes. The distance between two planes is computed as follows:

val = 0.5*angle(p1.normal, p2.normal)*angToDistWeight + 0.5*fabs(p1.d-p2.d);

Returns:

distance metric

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object