#include <tvm/geometry/Plane.h>

Inheritance diagram for tvm::geometry::Plane:

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Collaboration diagram for tvm::geometry::Plane:

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Public Member Functions
	Plane (const Eigen::Vector3d &normal, double offset)

	Plane (const Eigen::Vector3d &normal, const Eigen::Vector3d &point)

template<typename S , typename EnumO >
void	setIntegrator (std::shared_ptr< S > integrator, EnumO oPosition, EnumO oVelocity, EnumO oAcceleration)

template<typename S , typename EnumO , typename std::enable_if< std::is_base_of< tvm::graph::abstract::Outputs, S >::value, int >::type = 0>
void	setIntegrator (S &integrator, EnumO oPosition, EnumO oVelocity, EnumO oAcceleration)

void	position (const Eigen::Vector3d &normal, const Eigen::Vector3d &point)

void	position (const Eigen::Vector3d &normal, double offset)

void	velocity (const Eigen::Vector3d &nDot, const Eigen::Vector3d &speed)

void	acceleration (const Eigen::Vector3d &nDotDot, const Eigen::Vector3d &accel)

const Eigen::Vector3d &	normal () const

double	offset () const

const Eigen::Vector3d &	point () const

const Eigen::Vector3d &	normalDot () const

const Eigen::Vector3d &	speed () const

const Eigen::Vector3d &	normalDotDot () const

const Eigen::Vector3d &	acceleration () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Protected Member Functions inherited from tvm::graph::abstract::Node< Plane >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Detailed Description

Represents a 2D plane in 3D space

A static plane is represented by the usual (normal, offset) representation. (i.e. normal.dot(x) + offset = 0)

A moving plane is represented by a (normal, point) couple and their derivatives. (i.e. normal.dot(point) = -offset)

This object does not update any of these quantities (exception: when point is changed, offset is changed accordingly), this responsibility belongs to the Plane provider. In other words, this is not a plane integrator.

Outputs:

Position: position of the plane, represents (normal, offset, point) quantities
Velocity: first derivative of (normal, point)
Acceleration: second derivative of (normal, point)

Constructor & Destructor Documentation

◆ Plane() [1/2]

tvm::geometry::Plane::Plane	(	const Eigen::Vector3d &	normal,
		double	offset
	)

Constructor for a static plane

Parameters

normal	Normal of the plane
offset	Offset of the plane

◆ Plane() [2/2]

tvm::geometry::Plane::Plane	(	const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	point
	)

Constructor for a moving plane

Parameters

normal	Normal of the plane
point	Point on the plane

Member Function Documentation

◆ acceleration() [1/2]

const Eigen::Vector3d& tvm::geometry::Plane::acceleration ( ) const

inline

Access the point's acceleration

◆ acceleration() [2/2]

void tvm::geometry::Plane::acceleration	(	const Eigen::Vector3d &	nDotDot,
		const Eigen::Vector3d &	accel
	)

Change the point and normal's acceleration

◆ normal()

const Eigen::Vector3d& tvm::geometry::Plane::normal ( ) const

inline

Access the normal

◆ normalDot()

const Eigen::Vector3d& tvm::geometry::Plane::normalDot ( ) const

inline

Access the normal derivative

◆ normalDotDot()

const Eigen::Vector3d& tvm::geometry::Plane::normalDotDot ( ) const

inline

Access the normal second derivative

◆ offset()

double tvm::geometry::Plane::offset ( ) const

inline

Access the offset

◆ point()

const Eigen::Vector3d& tvm::geometry::Plane::point ( ) const

inline

Access the point

◆ position() [1/2]

void tvm::geometry::Plane::position	(	const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	point
	)

Change the plane normal and point

Triggers offset computation

◆ position() [2/2]

void tvm::geometry::Plane::position	(	const Eigen::Vector3d &	normal,
		double	offset
	)

Change the plane normal and offset

◆ setIntegrator() [1/2]

template<typename S , typename EnumO , typename std::enable_if< std::is_base_of< tvm::graph::abstract::Outputs, S >::value, int >::type = 0>

void tvm::geometry::Plane::setIntegrator	(	S &	integrator,
		EnumO	oPosition,
		EnumO	oVelocity,
		EnumO	oAcceleration
	)

inline

Set a direct dependency to the outputs of the integrator

This variant is probably preferable if the integrator creates the plane object

Such an integrator should update the plane in its own update method

◆ setIntegrator() [2/2]

template<typename S , typename EnumO >

void tvm::geometry::Plane::setIntegrator	(	std::shared_ptr< S >	integrator,
		EnumO	oPosition,
		EnumO	oVelocity,
		EnumO	oAcceleration
	)

inline

Set a direct dependency to the outputs of the integrator

Such an integrator should update the plane in its own update method

◆ speed()

const Eigen::Vector3d& tvm::geometry::Plane::speed ( ) const

inline

Access the point's speed

◆ velocity()

void tvm::geometry::Plane::velocity	(	const Eigen::Vector3d &	nDot,
		const Eigen::Vector3d &	speed
	)

Change the point and normal's speeds

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

include/tvm/geometry/Plane.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Plane() [1/2]

◆ Plane() [2/2]

Member Function Documentation

◆ acceleration() [1/2]

◆ acceleration() [2/2]

◆ normal()

◆ normalDot()

◆ normalDotDot()

◆ offset()

◆ point()

◆ position() [1/2]

◆ position() [2/2]

◆ setIntegrator() [1/2]

◆ setIntegrator() [2/2]

◆ speed()

◆ velocity()