eVision::Easy3D::E3DPlane Class Reference

Represents a 3D plane. More...

#include <eVision/Easy3D/E3DPlane.h>

Collaboration diagram for eVision::Easy3D::E3DPlane:

Public Member Functions
	E3DPlane ()
	Creates an E3DPlane object.
	E3DPlane (const eVision::Easy3D::E3DPoint &normal, float signedDistance)
	Creates an E3DPlane object.
	E3DPlane (const eVision::Easy3D::E3DPoint &point1, const eVision::Easy3D::E3DPoint &point2, const eVision::Easy3D::E3DPoint &point3)
	Creates an E3DPlane object.
	E3DPlane (const eVision::Easy3D::E3DPlane &other)
	Creates an E3DPlane object.
virtual	~E3DPlane () throw ()
eVision::Easy3D::E3DPlane &	operator= (const eVision::Easy3D::E3DPlane &other)
	Assignment operator.
eVision::Easy3D::E3DPlane	operator+ (float offset) const
	Operator "+": returns a new E3DPlane translated in the direction of the normal to the plane.
eVision::Easy3D::E3DPlane	operator- (float offset) const
	Operator "-": returns a new E3DPlane translated in the inverse of the direction of the normal to the plane.
void	Define (const eVision::Easy3D::E3DPoint &normal, float signedDistance)
	(re)Defines the plane parameters:
void	Define (const eVision::Easy3D::E3DPoint &point1, const eVision::Easy3D::E3DPoint &point2, const eVision::Easy3D::E3DPoint &point3)
	(re)Defines the plane parameters:
eVision::Easy3D::E3DPoint	GetNormal () const
	Gets/Sets the normal vector of the plane.
void	SetNormal (const eVision::Easy3D::E3DPoint &vector)
	Gets/Sets the normal vector of the plane.
float	GetSignedDistanceFromOrigin () const
	Gets/Sets the signed distance between the origin and the plane.
void	SetSignedDistanceFromOrigin (float signedDistance)
	Gets/Sets the signed distance between the origin and the plane.
float	DistanceTo (const eVision::Easy3D::E3DPoint &point) const
	Returns the signed distance between the plane and a given point.
eVision::Easy3D::E3DPoint	ProjectPoint (const eVision::Easy3D::E3DPoint &point) const
	Returns the position of the given point projected on the plane.
eVision::Easy3D::E3DPlane	Transform (const eVision::Easy3D::E3DTransformMatrix &matrix) const
	Transforms the 3D plane with the given transformation matrix. The transformation matrix must contain a rigid transformation (translation and rotation only).
void	Load (const std::string &path)
	Loads a E3DPlane. The given ESerializer must have been created for reading.
void	Load (eVision::ESerializer *serializer)
	Loads a E3DPlane. The given ESerializer must have been created for reading.
void	Save (const std::string &path)
	Saves a E3DPlane. The given ESerializer must have been created for writing.
void	Save (eVision::ESerializer *serializer)
	Saves a E3DPlane. The given ESerializer must have been created for writing.
void	FlipIfNegativeZ ()
	Flips the orientation of the ZMap (normal = -normal) if the normal has a negative Z coordinate.
void	OrientNormal (eVision::Easy3D::E3DPlaneNormalOrientation orientation)
	Orients the normal of the ZMap on one of the axes, see E3DPlaneNormalOrientation.
float	AngleWithPlane (const eVision::Easy3D::E3DPlane &other) const
	Returns the angle (in the first quadrant) between the normals of this plane and the one passed in argument.
bool	IntersectionWithTwoPlanes (const eVision::Easy3D::E3DPlane &plane1, const eVision::Easy3D::E3DPlane &plane2, eVision::Easy3D::E3DPoint &intersection) const
	Compute the intersection between this plane and the two given as argument. If the intersection exists, true is returned and intersection is filled with the intersection.
eVision::Easy3D::E3DTransformMatrix	GetTransformationTo (const eVision::Easy3D::E3DPlane &destination) const
	Return the transformation that moves the plane to the given destination plane.
	E3DPlane (CppWrapperInternal::InternalConstructor)

Static Public Member Functions
static eVision::Easy3D::E3DPlane	XPlane ()
	The X=0 plane.
static eVision::Easy3D::E3DPlane	YPlane ()
	The Y=0 plane.
static eVision::Easy3D::E3DPlane	ZPlane ()
	The Z=0 plane.

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Represents a 3D plane.

The equation of the plane is "n_vect . (x,y,z) = signedDistance" where "n_vect" is the normal vector and "signedDistance" is the signed distance from the origin to the plane.

The signed distance is positive when the vector binding the origin to the closest point on the plane has the same direction as "n_vect" and is negative when this vector has the opposite direction as "n_vect".

License(s): Easy3D

Constructor & Destructor Documentation

E3DPlane() [1/5]

eVision::Easy3D::E3DPlane::E3DPlane

(

)

Creates an E3DPlane object.

It is possible to initialize it by specifying its normal and signed distance from the origin. In that case, it exits with an exception if the norm of the normal is null. It is also possible to initialize it by specifying 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

When we define a plane by specifying 3 points, the normal vector is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

E3DPlane() [2/5]

eVision::Easy3D::E3DPlane::E3DPlane	(	const eVision::Easy3D::E3DPoint &	normal,
		float	signedDistance )

Creates an E3DPlane object.

It is possible to initialize it by specifying its normal and signed distance from the origin. In that case, it exits with an exception if the norm of the normal is null. It is also possible to initialize it by specifying 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

Parameters

normal	The normal vector. May not be null.
signedDistance	The signed distance from the origin to the plane.

When we define a plane by specifying 3 points, the normal vector is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

E3DPlane() [3/5]

eVision::Easy3D::E3DPlane::E3DPlane	(	const eVision::Easy3D::E3DPoint &	point1,
		const eVision::Easy3D::E3DPoint &	point2,
		const eVision::Easy3D::E3DPoint &	point3 )

Creates an E3DPlane object.

It is possible to initialize it by specifying its normal and signed distance from the origin. In that case, it exits with an exception if the norm of the normal is null. It is also possible to initialize it by specifying 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

Parameters

point1	First point
point2	Second point
point3	Third point

When we define a plane by specifying 3 points, the normal vector is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

E3DPlane() [4/5]

eVision::Easy3D::E3DPlane::E3DPlane

(

const eVision::Easy3D::E3DPlane &

other

)

Creates an E3DPlane object.

It is possible to initialize it by specifying its normal and signed distance from the origin. In that case, it exits with an exception if the norm of the normal is null. It is also possible to initialize it by specifying 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

Parameters

other

Reference to the plane used for the initialization.

When we define a plane by specifying 3 points, the normal vector is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

~E3DPlane()

eVision::Easy3D::E3DPlane::~E3DPlane ( ) throw (  )

virtual

E3DPlane() [5/5]

eVision::Easy3D::E3DPlane::E3DPlane

(

CppWrapperInternal::InternalConstructor

)

Member Function Documentation

AngleWithPlane()

float eVision::Easy3D::E3DPlane::AngleWithPlane

(

const eVision::Easy3D::E3DPlane &

other

)

const

Returns the angle (in the first quadrant) between the normals of this plane and the one passed in argument.

Parameters

other

The plane with respect to which we compute our angle

This function does not take the orientation of the normals into account, i.e. (0, 0, 1) and (0, 0, -1) will give the same angle

Define() [1/2]

void eVision::Easy3D::E3DPlane::Define	(	const eVision::Easy3D::E3DPoint &	normal,
		float	signedDistance )

(re)Defines the plane parameters:

It is possible to use the normal and the signed distance of the plane. In that case, it exits with an exception if the normal vector is the null vector. It is also possible to use 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

Parameters

normal	The normal vector, represented by an E3DPoint.
signedDistance	The signed distance between the origin and the plane.

When we define a plane by specifying 3 points, the normal vector always points toward the positive Z.

Define() [2/2]

void eVision::Easy3D::E3DPlane::Define	(	const eVision::Easy3D::E3DPoint &	point1,
		const eVision::Easy3D::E3DPoint &	point2,
		const eVision::Easy3D::E3DPoint &	point3 )

(re)Defines the plane parameters:

It is possible to use the normal and the signed distance of the plane. In that case, it exits with an exception if the normal vector is the null vector. It is also possible to use 3 points of the plane. In that case, it exits with an exception if the 3 points are aligned.

Parameters

point1	First point.
point2	Second point.
point3	Third point.

When we define a plane by specifying 3 points, the normal vector always points toward the positive Z.

DistanceTo()

float eVision::Easy3D::E3DPlane::DistanceTo

(

const eVision::Easy3D::E3DPoint &

point

)

const

Returns the signed distance between the plane and a given point.

A positive distance means that the vector connecting the plane to the point has the same direction as the normal while a negative distance means that it has the opposite direction.

Parameters

point

The 3D point to measure the distance to.

FlipIfNegativeZ()

void eVision::Easy3D::E3DPlane::FlipIfNegativeZ

(

)

Flips the orientation of the ZMap (normal = -normal) if the normal has a negative Z coordinate.

Deprecated

Use E3DPlane::OrientNormal ( E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ ) instead.

Deprecated in version 26.2. Scheduled to be removed in version 27.6.

GetNormal()

eVision::Easy3D::E3DPoint eVision::Easy3D::E3DPlane::GetNormal

(

)

const

Gets/Sets the normal vector of the plane.

Normal values will be stored normalized.

GetSignedDistanceFromOrigin()

float eVision::Easy3D::E3DPlane::GetSignedDistanceFromOrigin

(

)

const

Gets/Sets the signed distance between the origin and the plane.

GetTransformationTo()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DPlane::GetTransformationTo

(

const eVision::Easy3D::E3DPlane &

destination

)

const

Return the transformation that moves the plane to the given destination plane.

Parameters

destination

The destination plane.

IntersectionWithTwoPlanes()

bool eVision::Easy3D::E3DPlane::IntersectionWithTwoPlanes	(	const eVision::Easy3D::E3DPlane &	plane1,
		const eVision::Easy3D::E3DPlane &	plane2,
		eVision::Easy3D::E3DPoint &	intersection ) const

Compute the intersection between this plane and the two given as argument. If the intersection exists, true is returned and intersection is filled with the intersection.

Parameters

plane1	The first plane with which we compute the intersection.
plane2	The second plane with which we compute the intersection.
intersection	The point that will contain the intersection between the three planes.

Load() [1/2]

void eVision::Easy3D::E3DPlane::Load

(

const std::string &

path

)

Loads a E3DPlane. The given ESerializer must have been created for reading.

Parameters

path	The file path.

Load() [2/2]

void eVision::Easy3D::E3DPlane::Load

(

eVision::ESerializer *

serializer

)

Loads a E3DPlane. The given ESerializer must have been created for reading.

Parameters

serializer

The serializer.

operator+()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::operator+

(

float

offset

)

const

Operator "+": returns a new E3DPlane translated in the direction of the normal to the plane.

Parameters

offset

offset value

operator-()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::operator-

(

float

offset

)

const

Operator "-": returns a new E3DPlane translated in the inverse of the direction of the normal to the plane.

Parameters

offset

offset value

operator=()

eVision::Easy3D::E3DPlane & eVision::Easy3D::E3DPlane::operator=

(

const eVision::Easy3D::E3DPlane &

other

)

Assignment operator.

Parameters

other

The E3DPlane object that should be copied.

OrientNormal()

void eVision::Easy3D::E3DPlane::OrientNormal

(

eVision::Easy3D::E3DPlaneNormalOrientation

orientation

)

Orients the normal of the ZMap on one of the axes, see E3DPlaneNormalOrientation.

Parameters

orientation

Axis to orient the normal towards.

ProjectPoint()

eVision::Easy3D::E3DPoint eVision::Easy3D::E3DPlane::ProjectPoint

(

const eVision::Easy3D::E3DPoint &

point

)

const

Returns the position of the given point projected on the plane.

Parameters

point

The 3D point to project on plane.

Save() [1/2]

void eVision::Easy3D::E3DPlane::Save

(

const std::string &

path

)

Saves a E3DPlane. The given ESerializer must have been created for writing.

Parameters

path	The file path.

Save() [2/2]

void eVision::Easy3D::E3DPlane::Save

(

eVision::ESerializer *

serializer

)

Saves a E3DPlane. The given ESerializer must have been created for writing.

Parameters

serializer

The ESerializer object that is written to.

SetNormal()

void eVision::Easy3D::E3DPlane::SetNormal

(

const eVision::Easy3D::E3DPoint &

vector

)

Gets/Sets the normal vector of the plane.

Normal values will be stored normalized.

SetSignedDistanceFromOrigin()

void eVision::Easy3D::E3DPlane::SetSignedDistanceFromOrigin

(

float

signedDistance

)

Gets/Sets the signed distance between the origin and the plane.

Transform()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::Transform

(

const eVision::Easy3D::E3DTransformMatrix &

matrix

)

const

Transforms the 3D plane with the given transformation matrix. The transformation matrix must contain a rigid transformation (translation and rotation only).

Parameters

matrix

The 3D transformation matrix.

XPlane()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::XPlane ( )

static

The X=0 plane.

YPlane()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::YPlane ( )

static

The Y=0 plane.

ZPlane()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DPlane::ZPlane ( )

static

The Z=0 plane.

Member Data Documentation

wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::E3DPlane::wrappedClass_