# PlaneEquation Class Reference

Representation of a plane as ax + by + cz = d; used for representing the ground plane. More...

`#include <Measures.h>`

## Detailed Description

Representation of a plane as ax + by + cz = d; used for representing the ground plane.

Definition at line 9 of file Measures.h.

List of all members.

## Public Member Functions

PlaneEquation (const fmat::Column< 3 > &dir, float disp)
constructor, will normalize dir and apply to disp as well to maintain relative relationship
PlaneEquation (float a, float b, float c, float d)
constructor, pass plane equation representing ax + by + cz = d
PlaneEquation ()
constructor, assumes upward z normal
const fmat::Column< 3 > & getDirection () const
returns direction
void setDirection (const fmat::Column< 3 > &dir)
normalizes and assigns direction (normalization here does not affect displacement, unlike constructor)
float getDisplacement () const
returns displacement
void setDisplacement (float disp)
assigns displacement
float getZsign () const
returns sign on displacement
float getDsign () const
returns sign on displacement
template<class T >
void exportTo (T &x) const
assign to a four-element vector via operator[], with displacement in the last element ([3])
template<class T >
void importFrom (const T &x)
pull values from a four-element vector via operator[], with displacement in the last element ([3])

## Private Attributes

fmat::Column< 3 > direction
Unit vector normal to the plane.
float displacement
distance along normal from origin

## Constructor & Destructor Documentation

 PlaneEquation::PlaneEquation ( const fmat::Column< 3 > & dir, float disp )

constructor, will normalize dir and apply to disp as well to maintain relative relationship

Definition at line 3 of file Measures.cc.

 PlaneEquation::PlaneEquation ( float a, float b, float c, float d )

constructor, pass plane equation representing ax + by + cz = d

Definition at line 9 of file Measures.cc.

 PlaneEquation::PlaneEquation ( )

constructor, assumes upward z normal

Definition at line 16 of file Measures.h.

## Member Function Documentation

template<class T >
 void PlaneEquation::exportTo ( T & x ) const

assign to a four-element vector via operator[], with displacement in the last element ([3])

Definition at line 27 of file Measures.h.

 const fmat::Column<3>& PlaneEquation::getDirection ( ) const

returns direction

Definition at line 17 of file Measures.h.

Referenced by Kinematics::baseToLocal(), operator<<(), and Kinematics::projectToPlane().

 float PlaneEquation::getDisplacement ( ) const

returns displacement

Definition at line 20 of file Measures.h.

Referenced by Kinematics::baseToLocal(), operator<<(), and Kinematics::projectToPlane().

 float PlaneEquation::getDsign ( ) const

returns sign on displacement

Definition at line 24 of file Measures.h.

 float PlaneEquation::getZsign ( ) const

returns sign on displacement

Definition at line 23 of file Measures.h.

template<class T >
 void PlaneEquation::importFrom ( const T & x )

pull values from a four-element vector via operator[], with displacement in the last element ([3])

Definition at line 29 of file Measures.h.

 void PlaneEquation::setDirection ( const fmat::Column< 3 > & dir )

normalizes and assigns direction (normalization here does not affect displacement, unlike constructor)

Definition at line 18 of file Measures.h.

 void PlaneEquation::setDisplacement ( float disp )

assigns displacement

Definition at line 21 of file Measures.h.

## Member Data Documentation

 fmat::Column<3> PlaneEquation::direction` [private]`

Unit vector normal to the plane.

Definition at line 11 of file Measures.h.

Referenced by exportTo(), getDirection(), getZsign(), importFrom(), PlaneEquation(), and setDirection().

 float PlaneEquation::displacement` [private]`

distance along normal from origin

Definition at line 12 of file Measures.h.

Referenced by exportTo(), getDisplacement(), getDsign(), importFrom(), PlaneEquation(), and setDisplacement().

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

 Tekkotsu v5.1CVS Generated Mon May 9 04:59:14 2016 by Doxygen 1.6.3