mrs_lib::geometry::Rectangle Class Reference

geometric representation of a rectangle (can represent any quadrilateral) More...

#include <shapes.h>

Public Member Functions
	Rectangle ()
	constructor for initialization with points set to [0,0,0], [1,0,0], [1,1,0] and [0,1,0]
	~Rectangle ()
	destructor
	Rectangle (std::vector< Eigen::Vector3d > points)
	constructor using a std::vector of points (vector3). Provide points in a counter-clockwise order for correct behavior More...
	Rectangle (Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d)
	constructor using four points (vector3). Provide points in a counter-clockwise order for correct behavior More...
const Eigen::Vector3d	a () const
	getter for first point More...
const Eigen::Vector3d	b () const
	getter for the second point More...
const Eigen::Vector3d	c () const
	getter for the third point More...
const Eigen::Vector3d	d () const
	getter for the fourth point More...
const Eigen::Vector3d	center () const
	getter for center point More...
const Eigen::Vector3d	normal () const
	getter for the normal vector. It originates in the center of the Rectangle, length is normalized, orientation follows the right-hand rule, assuiming the points are provided in counter-clockwise order More...
const std::vector< Eigen::Vector3d >	vertices () const
	getter for all the points of this rectangle provided as std::vector More...
const std::vector< Triangle >	triangles () const
	getter for the triangles forming this rectangle More...
const boost::optional< Eigen::Vector3d >	intersectionRay (Ray r, double epsilon=1e-4) const
	calculate an intersection of this rectangle with a given ray with given tolerance More...
bool	isFacing (Eigen::Vector3d point) const
	check if the normal is facing a given point, i.e. if the point lies in the same half-space as the rectangle normal More...
double	solidAngleRelativeTo (Eigen::Vector3d point) const
	compute the solid angle of this rectangle relative to a given sphere center More...

Detailed Description

geometric representation of a rectangle (can represent any quadrilateral)

Constructor & Destructor Documentation

Rectangle() [1/2]

mrs_lib::geometry::Rectangle::Rectangle

(

std::vector< Eigen::Vector3d >

points

)

constructor using a std::vector of points (vector3). Provide points in a counter-clockwise order for correct behavior

Parameters

points

std::vector of points in 3d

Rectangle() [2/2]

mrs_lib::geometry::Rectangle::Rectangle	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b,
		Eigen::Vector3d	c,
		Eigen::Vector3d	d
	)

constructor using four points (vector3). Provide points in a counter-clockwise order for correct behavior

Parameters

a
b
c
d

Member Function Documentation

a()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::a

(

)

const

getter for first point

Returns

1st point (vector3)

b()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::b

(

)

const

getter for the second point

Returns

2nd point (vector3)

c()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::c

(

)

const

getter for the third point

Returns

3rd point (vector3)

center()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::center

(

)

const

getter for center point

Returns

center point (vector3)

d()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::d

(

)

const

getter for the fourth point

Returns

4th point (vector3)

intersectionRay()

const boost::optional< Eigen::Vector3d > mrs_lib::geometry::Rectangle::intersectionRay	(	Ray	r,
		double	epsilon = 1e-4
	)		const

calculate an intersection of this rectangle with a given ray with given tolerance

Parameters

r	ray to calculate intersection with
epsilon	calculation tolerance

Returns

vector3 intersection if exists, boost::none if no intersection is found

isFacing()

bool mrs_lib::geometry::Rectangle::isFacing

(

Eigen::Vector3d

point

)

const

check if the normal is facing a given point, i.e. if the point lies in the same half-space as the rectangle normal

Parameters

point

vector3 to check against

Returns

true if the normal is facing given point. Returns false for angle >= 90 degrees

normal()

const Eigen::Vector3d mrs_lib::geometry::Rectangle::normal

(

)

const

getter for the normal vector. It originates in the center of the Rectangle, length is normalized, orientation follows the right-hand rule, assuiming the points are provided in counter-clockwise order

Returns

normal vector3

solidAngleRelativeTo()

double mrs_lib::geometry::Rectangle::solidAngleRelativeTo

(

Eigen::Vector3d

point

)

const

compute the solid angle of this rectangle relative to a given sphere center

Parameters

point

center of a sphere to compute the solid angle for

Returns

solid angle in steradians

triangles()

const std::vector< Triangle > mrs_lib::geometry::Rectangle::triangles

(

)

const

getter for the triangles forming this rectangle

Returns

std::vector of triangles

vertices()

const std::vector< Eigen::Vector3d > mrs_lib::geometry::Rectangle::vertices

(

)

const

getter for all the points of this rectangle provided as std::vector

Returns

std::vector of points (vector3)

---

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

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