mrs_lib::geometry::Triangle Class Reference

geometric representation of a triangle. Instantiate a new triangle by providing three vertices More...

#include <shapes.h>

Public Member Functions
	Triangle ()
	constructor for initialization with default values (points [0,0,0], [1,0,0] and [0,0,1]
	~Triangle ()
	destructor
	Triangle (Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
	default constructor for creating a new triangle from given vertices More...
const Eigen::Vector3d	a () const
	getter for first point More...
const Eigen::Vector3d	b () const
	getter for second point More...
const Eigen::Vector3d	c () const
	getter for third point More...
const Eigen::Vector3d	center () const
	get position on the triangle center More...
const Eigen::Vector3d	normal () const
	get normal vector of this triangle. The vector origin is placed at triangle center, length is normalized and direction follows the right-hand rule with respect to vertex order a-b-c More...
const std::vector< Eigen::Vector3d >	vertices () const
	get a vector of all vertices More...
const boost::optional< Eigen::Vector3d >	intersectionRay (Ray r, double epsilon=1e-4) const
	calculate an intersection of this triangle with a given ray with given tolerance More...

Detailed Description

geometric representation of a triangle. Instantiate a new triangle by providing three vertices

Constructor & Destructor Documentation

Triangle()

mrs_lib::geometry::Triangle::Triangle	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b,
		Eigen::Vector3d	c
	)

default constructor for creating a new triangle from given vertices

Parameters

a
b
c

Member Function Documentation

a()

const Eigen::Vector3d mrs_lib::geometry::Triangle::a

(

)

const

getter for first point

Returns

1st point (vector3)

b()

const Eigen::Vector3d mrs_lib::geometry::Triangle::b

(

)

const

getter for second point

Returns

2nd point (vector3)

c()

const Eigen::Vector3d mrs_lib::geometry::Triangle::c

(

)

const

getter for third point

Returns

3rd point (vector3)

center()

const Eigen::Vector3d mrs_lib::geometry::Triangle::center

(

)

const

get position on the triangle center

Returns

vector3

intersectionRay()

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

calculate an intersection of this triangle 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

normal()

const Eigen::Vector3d mrs_lib::geometry::Triangle::normal

(

)

const

get normal vector of this triangle. The vector origin is placed at triangle center, length is normalized and direction follows the right-hand rule with respect to vertex order a-b-c

Returns

vector3

vertices()

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

(

)

const

get a vector of all vertices

Returns

std::vector<vector3>

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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