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DualCoding::Point

Point Class Reference

#include <Point.h>

Inheritance diagram for Point:

Inheritance graph
[legend]
List of all members.

Detailed Description

We define Point as a separate lightweight class because it is used as a component of all the xxxData classes, and we don't want to nest these structures.

Definition at line 24 of file Point.h.

Public Member Functions

 Point (const Point &otherPt)
 Copy constructor.
virtual ~Point ()
 Destructor.
NEWMAT::ColumnVector & getCoords () const
coordinate_t coordX () const
coordinate_t coordY () const
coordinate_t coordZ () const
void setRefFrameType (const ReferenceFrameType_t ref)
 Set reference frame type.
float distanceFrom (const Point &other) const
 Euclidean distance from another point to this one.
float xyDistanceFrom (const Point &other) const
void applyTransform (const NEWMAT::Matrix &T)
 Apply a transformation matrix to translate and/or rotate the point.
float getHeightAbovePoint (const Point &groundPoint, const NEWMAT::ColumnVector &groundplane)
void projectToGround (const NEWMAT::Matrix &camToBase, const NEWMAT::ColumnVector &groundPlane)
 projects this to ground plane according to camToBase matrix
void projectToGround (int xres, int yres, const NEWMAT::ColumnVector &ground_plane)
Point operator+ (const Point &b) const
Point & operator+= (const Point &b)
Point operator- (const Point &b) const
Point & operator-= (const Point &b)
Point operator * (float b) const
Point & operator *= (float b)
Point operator/ (float b) const
Point & operator/= (float b)
bool operator== (const Point &b) const
bool operator!= (const Point &b) const
Point & operator= (const Point &b)
void printData ()
 Point (void)
 Constructors.
 Point (coordinate_t const &xp, coordinate_t const &yp, coordinate_t zp=0, ReferenceFrameType_t ref=unspecified)
 Constructors.
 Point (const NEWMAT::ColumnVector &c, ReferenceFrameType_t ref=unspecified)
 Constructors.
void setCoords (const Point &otherPt)
 Set Position.
void setCoords (coordinate_t _x, coordinate_t _y, coordinate_t z=0)
 Set Position.
bool isLeftOf (const Point &other, float distance=0) const
 These functions need a ShapeSpace argument because left/right depends on reference frame type.
bool isRightOf (const Point &other, float distance=0) const
 These functions need a ShapeSpace argument because left/right depends on reference frame type.
bool isAbove (const Point &other, float distance=0) const
 These functions need a ShapeSpace argument because left/right depends on reference frame type.
bool isBelow (const Point &other, float distance=0) const
 These functions need a ShapeSpace argument because left/right depends on reference frame type.
bool isBetween (const Point &other1, const Point &other2) const
 These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).
bool isBetween (const Shape< LineData > &line1, const Shape< LineData > &line2) const
 These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).
bool isBetween (const LineData &line1, const LineData &line2) const
 These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).
bool isInside (const vector< LineData > &bound) const
 These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).

Public Attributes

NEWMAT::ColumnVector coords
ReferenceFrameType_t refFrameType

Friends

class EndPoint

Constructor & Destructor Documentation

Point ( void   ) 

Constructors.

Definition at line 16 of file Point.cc.

Referenced by Point::operator *(), Point::operator+(), Point::operator-(), and Point::operator/().

Point ( coordinate_t const &  xp,
coordinate_t const &  yp,
coordinate_t  zp = 0,
ReferenceFrameType_t  ref = unspecified 
)

Constructors.

Definition at line 20 of file Point.cc.

Point ( const NEWMAT::ColumnVector &  c,
ReferenceFrameType_t  ref = unspecified 
)

Constructors.

Definition at line 25 of file Point.cc.

Point ( const Point &  otherPt  )  [inline]

Copy constructor.

Definition at line 38 of file Point.h.

virtual ~Point (  )  [inline, virtual]

Destructor.

Definition at line 41 of file Point.h.

Member Function Documentation

void applyTransform ( const NEWMAT::Matrix &  T  ) 

Apply a transformation matrix to translate and/or rotate the point.

Definition at line 87 of file Point.cc.

Referenced by SphereData::applyTransform(), PyramidData::applyTransform(), PointData::applyTransform(), LineData::applyTransform(), EllipseData::applyTransform(), BrickData::applyTransform(), BlobData::applyTransform(), and AgentData::applyTransform().

coordinate_t coordX (  )  const [inline]

Definition at line 44 of file Point.h.

Referenced by LineData::balanceEndPointVert(), EndPoint::checkValidity(), DualCoding::countBorderPixelFit(), MapBuilder::defineGazePts(), MapBuilder::determineNextGazePoint(), Lookout::executeRequest(), MapBuilder::filterGroundShapes(), Region::findCentralMoment(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), DualCoding::findEdgePoint(), DualCoding::findRadialDistancesFromPoint(), LineData::firstPtCoord(), PointData::getBoundingBox(), LineData::getBoundingBox(), Point::getHeightAbovePoint(), LineData::intersectionWithLine(), LineData::intersectsLine(), Point::isAbove(), MapBuilder::isBadGazePoint(), Region::isContained(), PolygonData::isInside(), Point::isLeftOf(), PathPlanner::isLMVisible(), LineData::LineData(), LineData::lineEquation_abc(), LineData::lineEquation_abc_xz(), LineData::lineEquation_mb(), DualCoding::operator<<(), Point::operator==(), LineData::perpendicularDistanceFrom(), LineData::pointOnLine(), LineData::pointsOnSameSide(), Point::printData(), LineData::printEnds(), SphereData::printParams(), PointData::printParams(), LineData::printParams(), EllipseData::printParams(), SphereData::projectToGround(), PyramidData::projectToGround(), Point::projectToGround(), BrickData::projectToGround(), Lookout::scanAlongLine(), Lookout::scanArea(), LineData::secondPtCoord(), MapBuilder::setAgent(), LineData::setDrawCoords(), and AgentData::updateOrientation().

coordinate_t coordY (  )  const [inline]

Definition at line 45 of file Point.h.

Referenced by LineData::balanceEndPointVert(), EndPoint::checkValidity(), DualCoding::countBorderPixelFit(), MapBuilder::defineGazePts(), MapBuilder::determineNextGazePoint(), Lookout::executeRequest(), MapBuilder::filterGroundShapes(), Region::findCentralMoment(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), DualCoding::findEdgePoint(), DualCoding::findRadialDistancesFromPoint(), LineData::firstPtCoord(), PointData::getBoundingBox(), LineData::getBoundingBox(), Point::getHeightAbovePoint(), LineData::intersectionWithLine(), LineData::intersectsLine(), Point::isAbove(), MapBuilder::isBadGazePoint(), Region::isContained(), PolygonData::isInside(), Point::isLeftOf(), PathPlanner::isLMVisible(), LineData::LineData(), LineData::lineEquation_abc(), LineData::lineEquation_mb(), DualCoding::operator<<(), Point::operator==(), LineData::perpendicularDistanceFrom(), LineData::pointOnLine(), LineData::pointsOnSameSide(), Point::printData(), LineData::printEnds(), SphereData::printParams(), PointData::printParams(), LineData::printParams(), EllipseData::printParams(), SphereData::projectToGround(), PyramidData::projectToGround(), Point::projectToGround(), BrickData::projectToGround(), Lookout::scanAlongLine(), Lookout::scanArea(), LineData::secondPtCoord(), MapBuilder::setAgent(), LineData::setDrawCoords(), and AgentData::updateOrientation().

coordinate_t coordZ (  )  const [inline]

Definition at line 46 of file Point.h.

Referenced by MapBuilder::determineNextGazePoint(), Lookout::executeRequest(), MapBuilder::filterGroundShapes(), LineData::lineEquation_abc_xz(), DualCoding::operator<<(), Point::operator==(), Point::printData(), SphereData::projectToGround(), PyramidData::projectToGround(), BrickData::projectToGround(), Lookout::scanAlongLine(), Lookout::scanArea(), and MapBuilder::setAgent().

float distanceFrom ( const Point &  other  )  const

Euclidean distance from another point to this one.

Definition at line 39 of file Point.cc.

Referenced by DualCoding::findRadialDistancesFromPoint(), PolygonData::formsNewEndline(), PathPlanner::initialize(), PolygonData::isClosed(), SphereData::isInside(), PolygonData::isInside(), MapBuilder::isLineVisible(), SphereData::isMatchFor(), PointData::isMatchFor(), EndPoint::isMatchFor(), EllipseData::isMatchFor(), BlobData::isMatchFor(), and LineData::update_derived_properties().

NEWMAT::ColumnVector& getCoords (  )  const [inline]

Definition at line 43 of file Point.h.

Referenced by BlobData::render(), and LineData::setDrawCoords().

float getHeightAbovePoint ( const Point &  groundPoint,
const NEWMAT::ColumnVector &  groundplane 
)

Definition at line 141 of file Point.cc.

Referenced by PyramidData::projectToGround(), and BrickData::projectToGround().

bool isAbove ( const Point &  other,
float  distance = 0 
) const

These functions need a ShapeSpace argument because left/right depends on reference frame type.

Definition at line 67 of file Point.cc.

Referenced by DualCoding::bottomMost(), LineData::bottomPt(), Point::isBelow(), DualCoding::topMost(), and LineData::topPt().

bool isBelow ( const Point &  other,
float  distance = 0 
) const

These functions need a ShapeSpace argument because left/right depends on reference frame type.

Definition at line 82 of file Point.cc.

Referenced by BrickData::addBrickWithTwoSides().

bool isBetween ( const LineData &  line1,
const LineData &  line2 
) const

These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).

bool isBetween ( const Shape< LineData > &  line1,
const Shape< LineData > &  line2 
) const

These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).

bool isBetween ( const Point &  other1,
const Point &  other2 
) const

These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).

bool isInside ( const vector< LineData > &  bound  )  const

These functions return true based on relative positions, assuming points line in a 2D plane (z coordinate is ignored).

bool isLeftOf ( const Point &  other,
float  distance = 0 
) const

These functions need a ShapeSpace argument because left/right depends on reference frame type.

Definition at line 49 of file Point.cc.

Referenced by PyramidData::findBoundingTriangle(), Point::isRightOf(), DualCoding::leftMost(), LineData::leftPt(), DualCoding::rightMost(), and LineData::rightPt().

bool isRightOf ( const Point &  other,
float  distance = 0 
) const

These functions need a ShapeSpace argument because left/right depends on reference frame type.

Definition at line 64 of file Point.cc.

Point operator * ( float  b  )  const

Definition at line 182 of file Point.cc.

Point & operator *= ( float  b  ) 

Definition at line 184 of file Point.cc.

bool operator!= ( const Point &  b  )  const [inline]

Definition at line 103 of file Point.h.

Point operator+ ( const Point &  b  )  const

Definition at line 166 of file Point.cc.

Point & operator+= ( const Point &  b  ) 

Definition at line 168 of file Point.cc.

Point operator- ( const Point &  b  )  const

Definition at line 174 of file Point.cc.

Point & operator-= ( const Point &  b  ) 

Definition at line 176 of file Point.cc.

Point operator/ ( float  b  )  const

Definition at line 190 of file Point.cc.

Point & operator/= ( float  b  ) 

Definition at line 192 of file Point.cc.

Point& operator= ( const Point &  b  )  [inline]

Definition at line 105 of file Point.h.

bool operator== ( const Point &  b  )  const

Definition at line 197 of file Point.cc.

Referenced by Point::operator!=().

void printData (  ) 

Definition at line 209 of file Point.cc.

void projectToGround ( int  xres,
int  yres,
const NEWMAT::ColumnVector &  ground_plane 
)

Definition at line 119 of file Point.cc.

void projectToGround ( const NEWMAT::Matrix &  camToBase,
const NEWMAT::ColumnVector &  groundPlane 
)

projects this to ground plane according to camToBase matrix

Definition at line 89 of file Point.cc.

Referenced by SphereData::projectToGround(), PyramidData::projectToGround(), PointData::projectToGround(), LineData::projectToGround(), EllipseData::projectToGround(), BrickData::projectToGround(), BlobData::projectToGround(), and AgentData::projectToGround().

void setCoords ( coordinate_t  _x,
coordinate_t  _y,
coordinate_t  z = 0 
)

Set Position.

Definition at line 34 of file Point.cc.

void setCoords ( const Point &  otherPt  ) 

Set Position.

Definition at line 30 of file Point.cc.

Referenced by LineData::balanceEndPointVert(), MapBuilder::filterGroundShapes(), BlobData::findCorners(), BlobData::findCornersShapeFit(), MapBuilder::isLineVisible(), Region::mostDistantPtFrom(), Point::operator=(), SphereData::projectToGround(), PyramidData::projectToGround(), BrickData::projectToGround(), SphereData::setCentroidPt(), EllipseData::setCentroidPt(), AgentData::setCentroidPt(), LineData::setEndPts(), and AgentData::setOrientation().

void setRefFrameType ( const ReferenceFrameType_t  ref  )  [inline]

Set reference frame type.

Definition at line 55 of file Point.h.

Referenced by EllipseData::EllipseData(), and LineData::update_derived_properties().

float xyDistanceFrom ( const Point &  other  )  const

Definition at line 43 of file Point.cc.

Referenced by EllipseData::updateProperties().

Friends And Related Function Documentation

friend class EndPoint [friend]

Definition at line 114 of file Point.h.

Member Data Documentation

NEWMAT::ColumnVector coords

Definition at line 27 of file Point.h.

Referenced by Point::applyTransform(), BlobData::applyTransform(), Point::coordX(), Point::coordY(), Point::coordZ(), Point::distanceFrom(), Lookout::executeRequest(), BlobData::getCentroid(), Point::getCoords(), Point::getHeightAbovePoint(), MapBuilder::isLineVisible(), MapBuilder::isPointVisible(), Point::operator *(), Point::operator *=(), Point::operator+(), Point::operator+=(), Point::operator-(), Point::operator-=(), Point::operator/(), Point::operator/=(), Point::Point(), BlobData::printParams(), AgentData::printParams(), Point::projectToGround(), BlobData::projectToGround(), Point::setCoords(), EndPoint::updateParams(), EllipseData::updateProperties(), and Point::xyDistanceFrom().

ReferenceFrameType_t refFrameType

Definition at line 28 of file Point.h.

Referenced by Point::isAbove(), Point::isLeftOf(), Point::operator *(), Point::operator+(), Point::operator-(), Point::operator/(), Point::operator=(), PointData::PointData(), and Point::setRefFrameType().

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

DualCoding 3.0beta
 		Generated Wed Oct 4 00:02:29 2006 by Doxygen 1.4.7