georegression.geometry

Class UtilPlane3D_F64

java.lang.Object

georegression.geometry.UtilPlane3D_F64

public class UtilPlane3D_F64
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
UtilPlane3D_F64()

Method Summary

Modifier and Type	Method and Description
static PlaneNormal3D_F64	convert(PlaneGeneral3D_F64 input, PlaneNormal3D_F64 output) Converts a plane in general form into normal form.
static PlaneGeneral3D_F64	convert(PlaneNormal3D_F64 input, PlaneGeneral3D_F64 output) Converts a plane in normal form into a general equation
static PlaneNormal3D_F64	convert(PlaneTangent3D_F64 input, PlaneNormal3D_F64 output) Converts a plane in tangent form into a plane in normal form
static boolean	equals(PlaneNormal3D_F64 a, PlaneNormal3D_F64 b, double tol) Returns true if the two plane equations are equal to within tolerance.
static double	evaluate(PlaneGeneral3D_F64 plane, Point3D_F64 point) Applies the plane's definition to test to see if a point is one the plane
static double	evaluate(PlaneNormal3D_F64 plane, Point3D_F64 point) Applies the plane's definition to test to see if a point is one the plane
static void	hessianNormalForm(PlaneGeneral3D_F64 plane) Converts the plane into Hessian normal form.
static Se3_F64	planeToWorld(PlaneGeneral3D_F64 plane, Se3_F64 planeToWorld) Creates a transform from the plane's reference frame into world's reference frame.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

UtilPlane3D_F64

public UtilPlane3D_F64()

Method Detail

convert

public static PlaneGeneral3D_F64 convert(PlaneNormal3D_F64 input,
                                         PlaneGeneral3D_F64 output)

Converts a plane in normal form into a general equation

Parameters:

input - Plane in normal form.

output - (Optional) Storage for output plane in general form. If null a new instance will be declared.

Returns:

The convert plane in general form.

convert

public static PlaneNormal3D_F64 convert(PlaneGeneral3D_F64 input,
                                        PlaneNormal3D_F64 output)

Converts a plane in general form into normal form. The point on the plane in normal form will be the closest point to the origin.

NOTE: The normal is not normalized.

Parameters:

input - Plane in general form.

output - (Optional) Storage for output plane in normal form. If null a new instance will be declared.

Returns:

The plane in normal form.

convert

public static PlaneNormal3D_F64 convert(PlaneTangent3D_F64 input,
                                        PlaneNormal3D_F64 output)

Converts a plane in tangent form into a plane in normal form

Parameters:

input - Plane in tangent form.

output - (Optional) Storage for output plane in normal form. If null a new instance will be declared.

Returns:

The convert plane in general form.

hessianNormalForm

public static void hessianNormalForm(PlaneGeneral3D_F64 plane)

Converts the plane into Hessian normal form. This is done by dividing each coefficient by the Euclidean norm of (A,B,C).

Parameters:

plane - The input plane. Modified.

evaluate

public static double evaluate(PlaneGeneral3D_F64 plane,
                              Point3D_F64 point)

Applies the plane's definition to test to see if a point is one the plane

Parameters:

plane - Equation of the plane

point - Equation of the point.

Returns:

zero if the point is one the plane.

evaluate

public static double evaluate(PlaneNormal3D_F64 plane,
                              Point3D_F64 point)

Applies the plane's definition to test to see if a point is one the plane

Parameters:

plane - Equation of the plane

point - Equation of the point.

Returns:

zero if the point is one the plane.

equals

public static boolean equals(PlaneNormal3D_F64 a,
                             PlaneNormal3D_F64 b,
                             double tol)

Returns true if the two plane equations are equal to within tolerance. Planes are converted into generalized format and normalized to take in account scale ambiguity.

Parameters:

a - plane

b - plane

tol - Tolerance for equality

Returns:

true if equals and false if not

planeToWorld

public static Se3_F64 planeToWorld(PlaneGeneral3D_F64 plane,
                                   Se3_F64 planeToWorld)

Creates a transform from the plane's reference frame into world's reference frame. The z-axis is set to the plane's normal and the x-axis and y-axis are arbitrarily choosen. Points which lie along the plane will lie along its x-y plane.

Parameters:

plane - Plane

planeToWorld - (Optional) storage for the planeToWorld transform. Can be null.

Returns:

Transform from planeToWorld