Visual Servoing Platform version 3.5.0
vpPlane.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Plane geometrical structure.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpPlane_hh
40#define vpPlane_hh
41
42#include <visp3/core/vpColVector.h>
43#include <visp3/core/vpHomogeneousMatrix.h>
44#include <visp3/core/vpPoint.h>
45
58class VISP_EXPORT vpPlane
59{
60
61#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
62 // for backward compatibility
63public:
64#else
65private:
66#endif
67 double A, B, C, D;
68
69public:
70 typedef enum { object_frame, camera_frame } vpPlaneFrame;
71 vpPlane();
72 vpPlane(const vpPlane &P);
73 vpPlane(double A, double B, double C, double D);
74 vpPlane(const vpPoint &P, const vpColVector &n, vpPlaneFrame frame = camera_frame);
75 vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame = camera_frame);
76 void init(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame = camera_frame);
77 void init(const vpColVector &P, const vpColVector &n);
78 void init(const vpPlane &P);
79
80 // SET the parameter
82 inline void setA(double a) { this->A = a; }
84 inline void setB(double b) { this->B = b; }
86 inline void setC(double c) { this->C = c; }
88 inline void setD(double d) { this->D = d; }
90 inline void setABCD(double a, double b, double c, double d)
91 {
92 this->A = a;
93 this->B = b;
94 this->C = c;
95 this->D = d;
96 }
97
98 vpPlane &operator=(const vpPlane &f);
99
100 // GET information
102 double getA() const { return A; }
104 double getB() const { return B; }
106 double getC() const { return C; }
108 double getD() const { return D; }
109
116 inline vpColVector getABCD() const
117 {
118 vpColVector n(4);
119 n[0] = A;
120 n[1] = B;
121 n[2] = C;
122 n[3] = D;
123
124 return n;
125 }
136 inline vpColVector abcd() const
137 {
138 vpColVector n(4);
139 n[0] = A;
140 n[1] = B;
141 n[2] = C;
142 n[3] = D;
143
144 return n;
145 }
146
147 vpColVector getNormal() const;
148 void getNormal(vpColVector &n) const;
149
150 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpPlane &p);
151
152 // Operation with Plane
153 void projectionPointOnPlan(const vpPoint &P, vpPoint &Pproj) const;
154
155 double rayIntersection(const vpPoint &M0, const vpPoint &M1, vpColVector &H) const;
156
157 double getIntersection(const vpColVector &M1, vpColVector &H) const;
158 void changeFrame(const vpHomogeneousMatrix &cMo);
159};
160
161#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:59
vpColVector abcd() const
Definition: vpPlane.h:136
void setA(double a)
Definition: vpPlane.h:82
vpColVector getABCD() const
Definition: vpPlane.h:116
void setD(double d)
Definition: vpPlane.h:88
double A
Definition: vpPlane.h:67
double getD() const
Definition: vpPlane.h:108
void setC(double c)
Definition: vpPlane.h:86
double getA() const
Definition: vpPlane.h:102
double getC() const
Definition: vpPlane.h:106
void setABCD(double a, double b, double c, double d)
Definition: vpPlane.h:90
double getB() const
Definition: vpPlane.h:104
void setB(double b)
Definition: vpPlane.h:84
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82