mrs_lib::geometry::Ray Class Reference

geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast. More...

#include <shapes.h>

Public Member Functions
	Ray ()
	constructor without initialization of internal variables
	~Ray ()
	destructor
	Ray (Eigen::Vector3d p1, Eigen::Vector3d p2)
	default constructor More...
const Eigen::Vector3d	p1 () const
	get the origin point More...
const Eigen::Vector3d	p2 () const
	get the end point More...
const Eigen::Vector3d	direction () const
	get the direction of ray (normalized) More...

Static Public Member Functions
static Ray	twopointCast (Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)
	static method for generating new rays by raycasting from-to More...
static Ray	directionCast (Eigen::Vector3d origin, Eigen::Vector3d direction)
	static method for generating new rays by raycasting origin-direction More...

Detailed Description

geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast.

Constructor & Destructor Documentation

Ray()

mrs_lib::geometry::Ray::Ray	(	Eigen::Vector3d	p1,
		Eigen::Vector3d	p2
	)

default constructor

Parameters

p1	origin of the ray
p2	endpoint of the ray

Member Function Documentation

direction()

const Eigen::Vector3d mrs_lib::geometry::Ray::direction

(

)

const

get the direction of ray (normalized)

Returns

direction (normalized)

directionCast()

Ray mrs_lib::geometry::Ray::directionCast ( Eigen::Vector3d  origin, Eigen::Vector3d  direction  )

static

static method for generating new rays by raycasting origin-direction

Parameters

origin	origin of the ray
direction	of the ray

Returns

new Ray instance created by raycasting

p1()

const Eigen::Vector3d mrs_lib::geometry::Ray::p1

(

)

const

get the origin point

Returns

ray origin point

p2()

const Eigen::Vector3d mrs_lib::geometry::Ray::p2

(

)

const

get the end point

Returns

ray end point

twopointCast()

Ray mrs_lib::geometry::Ray::twopointCast ( Eigen::Vector3d  pointFrom, Eigen::Vector3d  pointTo  )

static

static method for generating new rays by raycasting from-to

Parameters

pointFrom	origin of the ray
pointTo	endpoint of the ray

Returns

new Ray instance created by raycasting

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

• include/mrs_lib/geometry/shapes.h
• src/geometry/shapes.cpp