math::geometry::LineSegment Class Reference

#include <line_segment.hpp>

Public Member Functions
	LineSegment (const geometry_msgs::msg::Point &start_point, const geometry_msgs::msg::Point &end_point)
	LineSegment (const geometry_msgs::msg::Point &start_point, const geometry_msgs::msg::Vector3 &vec, double length)
	~LineSegment ()
LineSegment &	operator= (const LineSegment &)
auto	getPoint (const double s, const bool denormalize_s=false) const -> geometry_msgs::msg::Point
	Get point on the line segment from s value. More...
auto	getPose (const double s, const bool denormalize_s=false, const bool fill_pitch=true) const -> geometry_msgs::msg::Pose
	Get pose on the line segment from s value. Orientation of thee return value was calculated from the vector of the line segment. More...
auto	isIntersect2D (const geometry_msgs::msg::Point &point) const -> bool
	Checking the intersection with 1 line segment and 1 point in 2D (x,y) coordinate. Ignore z axis. More...
auto	isIntersect2D (const LineSegment &l0) const -> bool
	Checking the intersection with 2 line segments in 2D (x,y) coordinate. Ignore z axis. More...
auto	getIntersection2DSValue (const geometry_msgs::msg::Point &point, const bool denormalize_s=false) const -> std::optional< double >
	Find intersection point of 1 line segment and 1 point. More...
auto	getIntersection2DSValue (const LineSegment &line, const bool denormalize_s=false) const -> std::optional< double >
	Get S value of the intersection point of two line segment. More...
auto	getIntersection2D (const LineSegment &line) const -> std::optional< geometry_msgs::msg::Point >
	Find intersection point of two line segments. More...
auto	getSValue (const geometry_msgs::msg::Pose &pose, double threshold_distance, bool denormalize_s) const -> std::optional< double >
auto	getVector () const -> geometry_msgs::msg::Vector3
auto	getNormalVector () const -> geometry_msgs::msg::Vector3
	Get normal vector of the line segment. More...
auto	get2DVector () const -> geometry_msgs::msg::Vector3
auto	getLength () const -> double
auto	get2DLength () const -> double
auto	getSlope () const -> double
auto	getSquaredDistanceIn2D (const geometry_msgs::msg::Point &point, const double s, const bool denormalize_s=false) const -> double
	Get squared distance (Square of euclidean distance) between specified 3D point and specified 3D point on line segment in 2D. (x,y) More...
auto	getSquaredDistanceVector (const geometry_msgs::msg::Point &point, const double s, const bool denormalize_s=false) const -> geometry_msgs::msg::Vector3
	Get 3D vector from specified 3D point to specified 3D point on line segment. More...

Public Attributes
const geometry_msgs::msg::Point	start_point
const geometry_msgs::msg::Point	end_point

Constructor & Destructor Documentation

LineSegment() [1/2]

math::geometry::LineSegment::LineSegment	(	const geometry_msgs::msg::Point &	start_point,
		const geometry_msgs::msg::Point &	end_point
	)

LineSegment() [2/2]

math::geometry::LineSegment::LineSegment	(	const geometry_msgs::msg::Point &	start_point,
		const geometry_msgs::msg::Vector3 &	vec,
		double	length
	)

~LineSegment()

math::geometry::LineSegment::~LineSegment

(

)

Member Function Documentation

get2DLength()

auto math::geometry::LineSegment::get2DLength

(

)

const -> double

get2DVector()

auto math::geometry::LineSegment::get2DVector

(

)

const -> geometry_msgs::msg::Vector3

getIntersection2D()

auto math::geometry::LineSegment::getIntersection2D

(

const LineSegment &

line

)

const -> std::optional<geometry_msgs::msg::Point>

Find intersection point of two line segments.

Parameters

line	Line segment of you want to find intersection.

Returns

std::optional<geometry_msgs::msg::Point> Intersection point, if the value is std::nullopt, lines have no intersection point.

getIntersection2DSValue() [1/2]

auto math::geometry::LineSegment::getIntersection2DSValue	(	const geometry_msgs::msg::Point &	point,
		const bool	denormalize_s = false
	)		const -> std::optional<double>

Find intersection point of 1 line segment and 1 point.

Parameters

point

point of you want to find intersection.

Returns

std::optional<double>

Note

If start_point and end_point is a same point, checking the point is same as end_point or not.

If the line segment is parallel to y axis, calculate s value from y axis value.

If the line segment is not parallel to x and y axis, calculate s value from x axis value.

getIntersection2DSValue() [2/2]

auto math::geometry::LineSegment::getIntersection2DSValue	(	const LineSegment &	line,
		const bool	denormalize_s = false
	)		const -> std::optional<double>

Get S value of the intersection point of two line segment.

Parameters

line	The line segment you want to check intersection.
denormalize_s	If true, s value should be normalized in range [0,1]. If false, s value is not normalized.

Returns

std::optional<double>

Note

Hard coded parameter, this parameter describes the tolerance of the range of s value (-s_tolerance ~ 1.0 + s_tolerance)

getLength()

auto math::geometry::LineSegment::getLength

(

)

const -> double

getNormalVector()

auto math::geometry::LineSegment::getNormalVector

(

)

const -> geometry_msgs::msg::Vector3

Get normal vector of the line segment.

Returns

geometry_msgs::msg::Vector3

getPoint()

auto math::geometry::LineSegment::getPoint	(	const double	s,
		const bool	denormalize_s = false
	)		const -> geometry_msgs::msg::Point

Get point on the line segment from s value.

Parameters

s	Normalized s value in coordinate along line segment.
denormalize_s	If true, s value should be normalized in range [0,1]. If false, s value is not normalized.

Returns

geometry_msgs::msg::Point

getPose()

auto math::geometry::LineSegment::getPose	(	const double	s,
		const bool	denormalize_s = false,
		const bool	fill_pitch = true
	)		const -> geometry_msgs::msg::Pose

Get pose on the line segment from s value. Orientation of thee return value was calculated from the vector of the line segment.

Parameters

s	Normalized s value in coordinate along line segment.
denormalize_s	If true, s value should be normalized in range [0,1]. If false, s value is not normalized.
fill_pitch	If true, the pitch value of the orientation is filled. If false, the pitch value of the orientation is 0. This parameter is introduced for backward-compatibility.

Returns

geometry_msgs::msg::Pose

getSlope()

auto math::geometry::LineSegment::getSlope

(

)

const -> double

getSquaredDistanceIn2D()

auto math::geometry::LineSegment::getSquaredDistanceIn2D	(	const geometry_msgs::msg::Point &	point,
		const double	s,
		const bool	denormalize_s = false
	)		const -> double

Get squared distance (Square of euclidean distance) between specified 3D point and specified 3D point on line segment in 2D. (x,y)

Parameters

point	Specified 3D point
S	value of specified 3D point in coordinate along line segment.
denormalize_s	If true, the s value is denormalized. If false, the s value should be normalized in range [0,1].

Returns

double

getSquaredDistanceVector()

auto math::geometry::LineSegment::getSquaredDistanceVector	(	const geometry_msgs::msg::Point &	point,
		const double	s,
		const bool	denormalize_s = false
	)		const -> geometry_msgs::msg::Vector3

Get 3D vector from specified 3D point to specified 3D point on line segment.

Parameters

point	Specified 3D point
s	S value of specified 3D point in coordinate along line segment.
denormalize_s	If true, the s value is denormalized. If false, the s value should be normalized in range [0,1].

Returns

geometry_msgs::msg::Vector3

getSValue()

auto math::geometry::LineSegment::getSValue	(	const geometry_msgs::msg::Pose &	pose,
		double	threshold_distance,
		bool	denormalize_s
	)		const -> std::optional<double>

getVector()

auto math::geometry::LineSegment::getVector

(

)

const -> geometry_msgs::msg::Vector3

isIntersect2D() [1/2]

auto math::geometry::LineSegment::isIntersect2D

(

const geometry_msgs::msg::Point &

point

)

const -> bool

Checking the intersection with 1 line segment and 1 point in 2D (x,y) coordinate. Ignore z axis.

Parameters

point

point you want to check intersection.

Returns

true Intersection detected.

false Intersection does not detected.

isIntersect2D() [2/2]

auto math::geometry::LineSegment::isIntersect2D

(

const LineSegment &

l0

)

const -> bool

Checking the intersection with 2 line segments in 2D (x,y) coordinate. Ignore z axis.

Parameters

l0	line segments you want to check intersection.

Returns

true Intersection detected.

false Intersection does not detected.

operator=()

LineSegment & math::geometry::LineSegment::operator=

(

const LineSegment &

)

Member Data Documentation

end_point

const geometry_msgs::msg::Point math::geometry::LineSegment::end_point

start_point

const geometry_msgs::msg::Point math::geometry::LineSegment::start_point

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

• common/math/geometry/include/geometry/polygon/line_segment.hpp
• common/math/geometry/src/polygon/line_segment.cpp