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)
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 &line) const -> bool
	Checking the intersection with 2 line segments in 2D (x,y) coordinate. Ignore z axis. More...
auto	isInBounds2D (const geometry_msgs::msg::Point &point) const -> bool
	Checks if the given point lies within the bounding box of the line segment. More...
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	get2DIntersectionSValue (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	get2DIntersectionSValue (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	getNormalVector () const -> geometry_msgs::msg::Vector3
	Get normal vector of the line segment. More...
auto	get2DVectorSlope () 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...
auto	relativePointPosition2D (const geometry_msgs::msg::Point &point) const -> int
	Determines the relative position of a point with respect to the line segment. More...

Public Attributes
const geometry_msgs::msg::Point	start_point
const geometry_msgs::msg::Point	end_point
const geometry_msgs::msg::Vector3	vector
const geometry_msgs::msg::Vector3	vector_2d
const double	length
const double	length_2d

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
	)

Member Function Documentation

get2DIntersectionSValue() [1/2]

auto math::geometry::LineSegment::get2DIntersectionSValue	(	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

This function checks for an SValue along the line. The term "2D" in the function name specifically refers to the intersection point, not the SValue. Therefore, the intersection is determined by disregarding the z-coordinate, hence the term "2D." After finding the intersection, we calculate its position using a proportion. Finally, we multiply this proportion by the actual 3D length to obtain the total SValue.

get2DIntersectionSValue() [2/2]

auto math::geometry::LineSegment::get2DIntersectionSValue	(	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>

get2DVectorSlope()

auto math::geometry::LineSegment::get2DVectorSlope

(

)

const -> double

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.

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

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>

isInBounds2D()

auto math::geometry::LineSegment::isInBounds2D

(

const geometry_msgs::msg::Point &

point

)

const -> bool

Checks if the given point lies within the bounding box of the line segment.

Parameters

point

Points you want to test.

Returns

• true if the points is within the bounds.
• false otherwise.

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 not detected.

isIntersect2D() [2/2]

auto math::geometry::LineSegment::isIntersect2D

(

const LineSegment &

line

)

const -> bool

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

Parameters

line	line segments you want to check intersection.

Returns

true Intersection detected.

false Intersection not detected.

relativePointPosition2D()

auto math::geometry::LineSegment::relativePointPosition2D

(

const geometry_msgs::msg::Point &

point

)

const -> int

Determines the relative position of a point with respect to the line segment.

This method computes the relative position of a given point with respect to the line segment defined by start_point and end_point using a cross product. The result indicates on which side of the line segment the point lies.

Parameters

point

The point to be evaluated.

Returns

• 1 if the point is to the left of the line segment (when moving from start_point to end_point).
• -1 if the point is to the right of the line segment.
• 0 if the point is collinear with the line segment (i.e., lies exactly on the line defined by start_point and end_point).

Member Data Documentation

end_point

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

length

const double math::geometry::LineSegment::length

length_2d

const double math::geometry::LineSegment::length_2d

start_point

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

vector

const geometry_msgs::msg::Vector3 math::geometry::LineSegment::vector

vector_2d

const geometry_msgs::msg::Vector3 math::geometry::LineSegment::vector_2d

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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