AprilTags::GLine2D Class Reference

A 2D line. More...

#include <GLine2D.h>

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Detailed Description

A 2D line.

Definition at line 15 of file GLine2D.h.

List of all members.

Public Member Functions
	GLine2D ()
	Create a new line.
	GLine2D (float slope, float b)
	Create a new line.
	GLine2D (float dX, float dY, const std::pair< float, float > &pt)
	Create a new line.
	GLine2D (const std::pair< float, float > &p1, const std::pair< float, float > &p2)
	Create a new line through two points.
float	getLineCoordinate (const std::pair< float, float > &p)
std::pair< float, float >	getPointOfCoordinate (float coord)
	The inverse of getLineCoordinate.
std::pair< float, float >	intersectionWith (const GLine2D &line) const
	Compute the point where two lines intersect, or (-1,0) if the lines are parallel.
float	getDx () const
float	getDy () const
float	getFirst () const
float	getSecond () const
Static Public Member Functions
static GLine2D	lsqFitXYW (const std::vector< XYWeight > &xyweights)
Protected Member Functions
void	normalizeSlope ()
void	normalizeP ()
Private Attributes
float	dx
float	dy
std::pair< float, float >	p
	A point the line passes through; when normalized, it is the point closest to the origin (hence perpendicular to the line).
bool	didNormalizeSlope
bool	didNormalizeP

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Constructor & Destructor Documentation

AprilTags::GLine2D::GLine2D

(

)

Create a new line.

Definition at line 4 of file GLine2D.cc.

Referenced by lsqFitXYW().

AprilTags::GLine2D::GLine2D	(	float	slope,
		float	b
	)

Create a new line.

Definition at line 7 of file GLine2D.cc.

AprilTags::GLine2D::GLine2D	(	float	dX,
		float	dY,
		const std::pair< float, float > &	pt
	)

Create a new line.

Definition at line 10 of file GLine2D.cc.

AprilTags::GLine2D::GLine2D	(	const std::pair< float, float > &	p1,
		const std::pair< float, float > &	p2
	)

Create a new line through two points.

Definition at line 13 of file GLine2D.cc.

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Member Function Documentation

float AprilTags::GLine2D::getDx

(

)

const

Definition at line 57 of file GLine2D.h.

Referenced by intersectionWith().

float AprilTags::GLine2D::getDy

(

)

const

Definition at line 58 of file GLine2D.h.

Referenced by intersectionWith().

float AprilTags::GLine2D::getFirst

(

)

const

Definition at line 59 of file GLine2D.h.

Referenced by intersectionWith().

float AprilTags::GLine2D::getLineCoordinate

(

const std::pair< float, float > &

p

)

Get the coordinate of a point (on this line), with zero corresponding to the point on the that is perpendicular toa line passing through the origin and the line.

Definition at line 16 of file GLine2D.cc.

std::pair< float, float > AprilTags::GLine2D::getPointOfCoordinate

(

float

coord

)

The inverse of getLineCoordinate.

Definition at line 21 of file GLine2D.cc.

float AprilTags::GLine2D::getSecond

(

)

const

Definition at line 60 of file GLine2D.h.

Referenced by intersectionWith().

std::pair< float, float > AprilTags::GLine2D::intersectionWith

(

const GLine2D &

line

)

const

Compute the point where two lines intersect, or (-1,0) if the lines are parallel.

Definition at line 26 of file GLine2D.cc.

Referenced by AprilTags::TagDetector::extractTags(), and AprilTags::Quad::search().

GLine2D AprilTags::GLine2D::lsqFitXYW

(

const std::vector< XYWeight > &

xyweights

)

[static]

Definition at line 53 of file GLine2D.cc.

void AprilTags::GLine2D::normalizeP

(

)

[protected]

Definition at line 97 of file GLine2D.cc.

Referenced by getPointOfCoordinate().

void AprilTags::GLine2D::normalizeSlope

(

)

[protected]

Definition at line 88 of file GLine2D.cc.

Referenced by getLineCoordinate(), and normalizeP().

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Member Data Documentation

bool AprilTags::GLine2D::didNormalizeP [private]

Definition at line 70 of file GLine2D.h.

Referenced by normalizeP().

bool AprilTags::GLine2D::didNormalizeSlope [private]

Definition at line 69 of file GLine2D.h.

Referenced by normalizeSlope().

float AprilTags::GLine2D::dx [private]

Definition at line 67 of file GLine2D.h.

Referenced by getDx(), getLineCoordinate(), getPointOfCoordinate(), intersectionWith(), normalizeP(), and normalizeSlope().

float AprilTags::GLine2D::dy [private]

Definition at line 67 of file GLine2D.h.

Referenced by getDy(), getLineCoordinate(), getPointOfCoordinate(), intersectionWith(), normalizeP(), and normalizeSlope().

std::pair<float,float> AprilTags::GLine2D::p [private]

A point the line passes through; when normalized, it is the point closest to the origin (hence perpendicular to the line).

Definition at line 68 of file GLine2D.h.

Referenced by getPointOfCoordinate(), intersectionWith(), and normalizeP().

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

• GLine2D.h
• GLine2D.cc