gtsam::SimWall2D Class Reference

#include <SimWall2D.h>

Public Member Functions
	SimWall2D ()
	SimWall2D (const Point2 &a, const Point2 &b)
	SimWall2D (double ax, double ay, double bx, double by)
void	print (const std::string &s="") const
bool	equals (const SimWall2D &other, double tol=1e-9) const
Point2	a () const
Point2	b () const
SimWall2D	scale (double s) const
double	length () const
Point2	midpoint () const
bool	intersects (const SimWall2D &wall, Point2 *pt=nullptr) const
bool	intersects (const SimWall2D &wall, Point2 &pt) const
Point2	norm () const
Rot2	reflection (const Point2 &init, const Point2 &intersection) const

Protected Attributes
Point2	a_
Point2	b_

Detailed Description

General Wall class for walls defined around unordered endpoints Primarily to handle ray intersections

Constructor & Destructor Documentation

SimWall2D() [1/2]

gtsam::SimWall2D::SimWall2D ( )

inline

default constructor makes canonical wall

SimWall2D() [2/2]

gtsam::SimWall2D::SimWall2D ( const Point2 &  a, const Point2 &  b  )

inline

constructors using endpoints

Member Function Documentation

a()

Point2 gtsam::SimWall2D::a ( ) const

inline

access

intersects() [1/2]

bool gtsam::SimWall2D::intersects	(	const SimWall2D &	wall,
		Point2 *	pt = nullptr
	)		const

intersection check between two segments returns true if they intersect, with the intersection point in the optional second argument

intersects() [2/2]

bool gtsam::SimWall2D::intersects ( const SimWall2D &  wall, Point2 &  pt  ) const

inline

An overload of intersects that takes an l-value reference to a Point2 instead of a pointer.

length()

double gtsam::SimWall2D::length ( ) const

inline

geometry

norm()

Point2 gtsam::SimWall2D::norm

(

)

const

norm is a 2D point representing the norm of the wall

print()

void gtsam::SimWall2D::print

(

const std::string &

s = ""

)

const

required by testable

reflection()

Rot2 gtsam::SimWall2D::reflection	(	const Point2 &	init,
		const Point2 &	intersection
	)		const

reflection around a point of impact with a wall from a starting (init) point at a given impact point (intersection), returning the angle away from the impact

scale()

SimWall2D gtsam::SimWall2D::scale ( double  s ) const

inline

scales a wall to produce a new wall

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/geometry/SimWall2D.h