source: rrlib_geometry/tPlane.h @ 60:a22756932ab5

Last change on this file since 60:a22756932ab5 was 60:a22756932ab5, checked in by Tobias Föhst <foehst@…>, 6 years ago

Added and updated license information

File size: 4.9 KB
Line 
1//
2// You received this file as part of RRLib
3// Robotics Research Library
4//
5// Copyright (C) Finroc GbR (finroc.org)
6//
7// This program is free software; you can redistribute it and/or modify
8// it under the terms of the GNU General Public License as published by
9// the Free Software Foundation; either version 2 of the License, or
10// (at your option) any later version.
11//
12// This program is distributed in the hope that it will be useful,
13// but WITHOUT ANY WARRANTY; without even the implied warranty of
14// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
15// GNU General Public License for more details.
16//
17// You should have received a copy of the GNU General Public License along
18// with this program; if not, write to the Free Software Foundation, Inc.,
19// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
20//
21//----------------------------------------------------------------------
22/*!\file    tPlane.h
23 *
24 * \author  Tobias Foehst
25 *
26 * \date    2011-01-19
27 *
28 * \brief   Contains tPlane
29 *
30 * \b tPlane
31 *
32 * A few words for tPlane
33 *
34 */
35//----------------------------------------------------------------------
36#ifndef __rrlib__geometry__tPlane_h__
37#define __rrlib__geometry__tPlane_h__
38
39#include "rrlib/geometry/tShape.h"
40//----------------------------------------------------------------------
41// External includes (system with <>, local with "")
42//----------------------------------------------------------------------
43
44//----------------------------------------------------------------------
45// Internal includes with ""
46//----------------------------------------------------------------------
47
48//----------------------------------------------------------------------
49// Debugging
50//----------------------------------------------------------------------
51
52//----------------------------------------------------------------------
53// Namespace declaration
54//----------------------------------------------------------------------
55namespace rrlib
56{
57namespace geometry
58{
59
60//----------------------------------------------------------------------
61// Forward declarations / typedefs / enums
62//----------------------------------------------------------------------
63
64//----------------------------------------------------------------------
65// Class declaration
66//----------------------------------------------------------------------
67//! Short description of tPlane
68/*! A more detailed description of tPlane, which
69    Tobias Foehst hasn't done yet !!
70*/
71template <size_t Tdimension, typename TElement = double>
72class tPlane : public tShape<3, TElement>
73{
74
75  typedef geometry::tShape<Tdimension, TElement> tShape;
76
77//----------------------------------------------------------------------
78// Public methods and typedefs
79//----------------------------------------------------------------------
80public:
81
82  typedef typename tShape::tPoint::tElement tParameter;
83
84  tPlane();
85  tPlane(const typename tShape::tPoint &support, const math::tVector<Tdimension, TElement> &normal);
86  tPlane(const typename tShape::tPoint &p1, const typename tShape::tPoint &p2, const typename tShape::tPoint &p3);
87
88  inline const typename tShape::tPoint &Support() const
89  {
90    return this->support;
91  }
92
93  inline const math::tVector<Tdimension, TElement> &Normal() const
94  {
95    return this->normal;
96  }
97
98  void Set(const typename tShape::tPoint &support, const math::tVector<Tdimension, TElement> &normal);
99  void Set(const typename tShape::tPoint &p1, const typename tShape::tPoint &p2, const typename tShape::tPoint &p3);
100
101//  const typename tShape::tPoint operator()(tParameter t) const;
102
103  const TElement GetDistanceToPoint(const typename tShape::tPoint &point) const;
104
105  virtual const typename tShape::tPoint GetClosestPoint(const typename tShape::tPoint &reference_point) const;
106
107  virtual tPlane &Translate(const math::tVector<Tdimension, TElement> &translation);
108  virtual tPlane &Rotate(const math::tMatrix<Tdimension, Tdimension, TElement> &rotation);
109  virtual tPlane &Transform(const math::tMatrix < Tdimension + 1, Tdimension + 1, TElement > &transformation);
110
111//----------------------------------------------------------------------
112// Private fields and methods
113//----------------------------------------------------------------------
114private:
115
116  typename tShape::tPoint support;
117  typename math::tVector<Tdimension, TElement> normal;
118
119  virtual void UpdateBoundingBox(typename tShape::tBoundingBox &bounding_box) const;
120  virtual void UpdateCenterOfGravity(typename tShape::tPoint &center_of_gravity) const;
121
122};
123
124typedef tPlane<3, double> tPlane3D;
125
126//----------------------------------------------------------------------
127// Explicit template instantiation
128//----------------------------------------------------------------------
129
130extern template class tPlane<3, float>;
131extern template class tPlane<3, double>;
132
133
134
135//----------------------------------------------------------------------
136// End of namespace declaration
137//----------------------------------------------------------------------
138}
139}
140
141
142#include "rrlib/geometry/tPlane.hpp"
143
144#endif
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