autoware::tracking_test_framework::Line Class Reference

This is the class which represents the line and defines the function intersect_with_line which gives the intersection points with another line. More...

#include <shapes.hpp>

Inheritance diagram for autoware::tracking_test_framework::Line:

Collaboration diagram for autoware::tracking_test_framework::Line:

Public Member Functions
	Line ()=default
	default constructor More...
	Line (const Eigen::Vector2f &start, const Eigen::Vector2f &end)
	constructor More...
EigenStlVector< Eigen::Vector2f >	intersect_with_line (const Line &line, const autoware::common::types::bool8_t closest_point_only) const override
	Method to get intersection points of a line with another line. More...
Eigen::Vector2f	get_point (const autoware::common::types::float32_t scale) const
	gets the point on the line at the input scale More...
const Eigen::Vector2f &	starting_point () const
	gets the starting point of the line More...
const Eigen::Vector2f &	end_point () const
	gets the end point of the line More...
const Eigen::Vector2f &	direction () const
	gets the line direction More...
const autoware::common::types::float32_t &	length () const
	gets the line length More...
Public Member Functions inherited from autoware::tracking_test_framework::Shape
virtual	~Shape ()=default
	Virtual destructor. More...

Detailed Description

This is the class which represents the line and defines the function intersect_with_line which gives the intersection points with another line.

Constructor & Destructor Documentation

Line() [1/2]

autoware::tracking_test_framework::Line::Line ( )

default

default constructor

Line() [2/2]

autoware::tracking_test_framework::Line::Line	(	const Eigen::Vector2f &	start,
		const Eigen::Vector2f &	end
	)

constructor

Member Function Documentation

direction()

const Eigen::Vector2f& autoware::tracking_test_framework::Line::direction ( ) const

inline

gets the line direction

Returns

returns the line direction

end_point()

const Eigen::Vector2f& autoware::tracking_test_framework::Line::end_point ( ) const

inline

gets the end point of the line

Returns

returns the end point

get_point()

Eigen::Vector2f autoware::tracking_test_framework::Line::get_point

(

const autoware::common::types::float32_t

scale

)

const

gets the point on the line at the input scale

Parameters

[in]

scale

the scalar qty t representing the scaling factor for the line in equation : \((p = p^ + t.d)\) where \((p^)\) is the unit vector for starting point of the line and \((d)\) is the direction unit vector. if \((||d|| == 1)\) then the scale becomes a signed distance along the line

Returns

returns the point on the line

intersect_with_line()

EigenStlVector< Eigen::Vector2f > autoware::tracking_test_framework::Line::intersect_with_line ( const Line &  line, const autoware::common::types::bool8_t  closest_point_only  ) const

overridevirtual

Method to get intersection points of a line with another line.

Parameters

[in]	line	the Line object
[in]	closest_point_only	the boolean to determine if closest intersection to be returned or all

Returns

returns the intersection points

If we represent two lines in the form of: \((𝑝_1 = \hat{𝑝_1} + 𝑡_1⋅𝑑_1)\) \((𝑝_2 = \hat{𝑝_2} + 𝑡_2⋅𝑑_2)\) where \((𝑝_1)\) and \((𝑝_2)\) are arbitrary points on the given lines, \((\hat{𝑝_1})\) and \((\hat{𝑝_2})\) are the starting points of the lines, \((𝑡_1)\) and \((𝑡_2)\) are scalar scaling parameters that scale the corresponding direction unit vectors \((𝑑_1)\) and \((𝑑_2)\) , thus defining any point on the line.

Implements autoware::tracking_test_framework::Shape.

length()

const autoware::common::types::float32_t& autoware::tracking_test_framework::Line::length ( ) const

inline

gets the line length

Returns

returns the line length

starting_point()

const Eigen::Vector2f& autoware::tracking_test_framework::Line::starting_point ( ) const

inline

gets the starting point of the line

Returns

returns the starting point

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

• shapes.hpp
• shapes.cpp