114 lines
2.5 KiB
Text
114 lines
2.5 KiB
Text
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/**
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* @file plane3d.h
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*
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* @auhtor Remus Claudiu Dumitru <r.dumitru@jacobs-university.de>
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* @date 16 Feb 2012
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*
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*/
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#ifndef PLANE3D_H_
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#define PLANE3D_H_
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//==============================================================================
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// Includes
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//==============================================================================
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#include "model/vector3d.h"
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#include <vector>
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namespace model {
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/**
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* A class defining a plane.
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*/
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class Plane3d {
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private:
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/**
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* used to determine if vertical
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*/
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static constexpr double _EPSILON_VERTICAL = 0.02;
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/**
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* used to determine if horizontal
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*/
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static constexpr double _EPSILON_HORIZONTAL = 0.02;
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/**
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* if two planes are this close in cm
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* then they may be considered to be the same
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*/
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static constexpr double _EPSILON_DISTANCE = 20;
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/**
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* if the length of the crossproduct of two normals is less than this
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* then the planes may be considered to be the same
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*/
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static constexpr double _EPSILON_NORMAL_CROSS_PRODUCT = 2e-1;
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public:
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/**
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* the normal defining the plane
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*/
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Vector3d normal;
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/**
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* the point of application of the normal
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*/
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Point3d pt;
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/**
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* the convex hull of this plane
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*/
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std::vector<Point3d> hull;
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Plane3d();
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Plane3d(const Point3d& pt, const Vector3d& normal);
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Plane3d(const Point3d& pt, const Vector3d& normal,
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const std::vector<Point3d>& hull);
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Plane3d(const Plane3d& other);
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virtual ~Plane3d();
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/**
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* compute the intersection of three planes
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*/
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Point3d intersect(const Plane3d& first, const Plane3d& second);
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/**
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* copies one plane to another
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*/
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Plane3d& operator=(const Plane3d& other);
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/**
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* returns true if a plane is vertical within some predefined epsilon values
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*/
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bool isVertical();
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/**
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* returns true if a plane is horizontal within some predefined epsilon values
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*/
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bool isHorizontal();
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/**
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* returns true if this plane replresents the same plane as other
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* within some predefined epsilon values
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*/
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bool isSamePlane(Plane3d other);
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/**
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* Computes the normal of the plane from the hull.
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*/
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Vector3d computeAverageNormal();
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/**
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* Returns the 3D coordinates of points on the plane, which have a fixed
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* distance to their next neighbor.
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*/
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std::vector<std::vector<Point3d> > getDiscretePoints(const double& dist) const;
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};
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} /* namespace model */
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#endif /* PLANE3D_H_ */
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