Line segment in 2-D. More...

#include <line_segment2d.h>

Collaboration diagram for apollo::common::math::LineSegment2d:

Public Member Functions
	LineSegment2d ()
	Empty constructor. More...

	LineSegment2d (const Vec2d &start, const Vec2d &end)
	Constructor with start point and end point. More...

const Vec2d &	start () const
	Get the start point. More...

const Vec2d &	end () const
	Get the end point. More...

const Vec2d &	unit_direction () const
	Get the unit direction from the start point to the end point. More...

Vec2d	center () const
	Get the center of the line segment. More...

Vec2d	rotate (const double angle)
	Get a new line-segment with the same start point, but rotated counterclock-wise by the given amount. More...

double	heading () const
	Get the heading of the line segment. More...

double	cos_heading () const
	Get the cosine of the heading. More...

double	sin_heading () const
	Get the sine of the heading. More...

double	length () const
	Get the length of the line segment. More...

double	length_sqr () const
	Get the square of length of the line segment. More...

double	DistanceTo (const Vec2d &point) const
	Compute the shortest distance from a point on the line segment to a point in 2-D. More...

double	DistanceTo (const Vec2d &point, Vec2d *const nearest_pt) const
	Compute the shortest distance from a point on the line segment to a point in 2-D, and get the nearest point on the line segment. More...

double	DistanceSquareTo (const Vec2d &point) const
	Compute the square of the shortest distance from a point on the line segment to a point in 2-D. More...

double	DistanceSquareTo (const Vec2d &point, Vec2d *const nearest_pt) const
	Compute the square of the shortest distance from a point on the line segment to a point in 2-D, and get the nearest point on the line segment. More...

bool	IsPointIn (const Vec2d &point) const
	Check if a point is within the line segment. More...

bool	HasIntersect (const LineSegment2d &other_segment) const
	Check if the line segment has an intersect with another line segment in 2-D. More...

bool	GetIntersect (const LineSegment2d &other_segment, Vec2d *const point) const
	Compute the intersect with another line segment in 2-D if any. More...

double	ProjectOntoUnit (const Vec2d &point) const
	Compute the projection of a vector onto the line segment. More...

double	ProductOntoUnit (const Vec2d &point) const
	Compute the cross product of a vector onto the line segment. More...

double	GetPerpendicularFoot (const Vec2d &point, Vec2d *const foot_point) const
	Compute perpendicular foot of a point in 2-D on the straight line expanded from the line segment. More...

std::string	DebugString () const
	Get the debug string including the essential information. More...

Detailed Description

Line segment in 2-D.

Constructor & Destructor Documentation

◆ LineSegment2d() [1/2]

apollo::common::math::LineSegment2d::LineSegment2d ( )

Empty constructor.

◆ LineSegment2d() [2/2]

apollo::common::math::LineSegment2d::LineSegment2d	(	const Vec2d &	start,
		const Vec2d &	end
	)

Constructor with start point and end point.

Parameters

start	The start point of the line segment.
end	The end point of the line segment.

Member Function Documentation

◆ center()

Vec2d apollo::common::math::LineSegment2d::center ( ) const

inline

Get the center of the line segment.

Returns: The center of the line segment.

◆ cos_heading()

double apollo::common::math::LineSegment2d::cos_heading ( ) const

inline

Get the cosine of the heading.

Returns: The cosine of the heading.

◆ DebugString()

std::string apollo::common::math::LineSegment2d::DebugString ( ) const

Get the debug string including the essential information.

Returns: Information of the line segment for debugging.

◆ DistanceSquareTo() [1/2]

double apollo::common::math::LineSegment2d::DistanceSquareTo ( const Vec2d & point ) const

Compute the square of the shortest distance from a point on the line segment to a point in 2-D.

Parameters

point The point to compute the squared of the distance to.

Returns: The square of the shortest distance from points on the line segment to the input point.

◆ DistanceSquareTo() [2/2]

double apollo::common::math::LineSegment2d::DistanceSquareTo	(	const Vec2d &	point,
		Vec2d *const	nearest_pt
	)		const

Compute the square of the shortest distance from a point on the line segment to a point in 2-D, and get the nearest point on the line segment.

Parameters

point	The point to compute the squared of the distance to.
nearest_pt	The nearest point on the line segment to the input point.

Returns: The shortest distance from points on the line segment to the input point.

◆ DistanceTo() [1/2]

double apollo::common::math::LineSegment2d::DistanceTo ( const Vec2d & point ) const

Compute the shortest distance from a point on the line segment to a point in 2-D.

Parameters

point The point to compute the distance to.

Returns: The shortest distance from points on the line segment to point.

◆ DistanceTo() [2/2]

double apollo::common::math::LineSegment2d::DistanceTo	(	const Vec2d &	point,
		Vec2d *const	nearest_pt
	)		const

Compute the shortest distance from a point on the line segment to a point in 2-D, and get the nearest point on the line segment.

Parameters

point	The point to compute the distance to.
nearest_pt	The nearest point on the line segment to the input point.

Returns: The shortest distance from points on the line segment to the input point.

◆ end()

const Vec2d& apollo::common::math::LineSegment2d::end ( ) const

inline

Get the end point.

Returns: The end point of the line segment.

◆ GetIntersect()

bool apollo::common::math::LineSegment2d::GetIntersect	(	const LineSegment2d &	other_segment,
		Vec2d *const	point
	)		const

Compute the intersect with another line segment in 2-D if any.

Parameters

other_segment	The line segment to compute the intersect.
point	the computed intersect between the line segment and the input other_segment.

Returns: Whether the line segment has an intersect with the input other_segment.

◆ GetPerpendicularFoot()

double apollo::common::math::LineSegment2d::GetPerpendicularFoot	(	const Vec2d &	point,
		Vec2d *const	foot_point
	)		const

Compute perpendicular foot of a point in 2-D on the straight line expanded from the line segment.

Parameters

point	The point to compute the perpendicular foot from.
foot_point	The computed perpendicular foot from the input point to the straight line expanded from the line segment.

Returns: The distance from the input point to the perpendicular foot.

◆ HasIntersect()

bool apollo::common::math::LineSegment2d::HasIntersect ( const LineSegment2d & other_segment ) const

Check if the line segment has an intersect with another line segment in 2-D.

Parameters

other_segment The line segment to check if it has an intersect.

Returns: Whether the line segment has an intersect with the input other_segment.

◆ heading()

double apollo::common::math::LineSegment2d::heading ( ) const

inline

Get the heading of the line segment.

Returns: The heading, which is the angle between unit direction and x-axis.

◆ IsPointIn()

bool apollo::common::math::LineSegment2d::IsPointIn ( const Vec2d & point ) const

Check if a point is within the line segment.

Parameters

point The point to check if it is within the line segment.

Returns: Whether the input point is within the line segment or not.

◆ length()

double apollo::common::math::LineSegment2d::length ( ) const

Get the length of the line segment.

Returns: The length of the line segment.

◆ length_sqr()

double apollo::common::math::LineSegment2d::length_sqr ( ) const

Get the square of length of the line segment.

Returns: The square of length of the line segment.

◆ ProductOntoUnit()

double apollo::common::math::LineSegment2d::ProductOntoUnit ( const Vec2d & point ) const

Compute the cross product of a vector onto the line segment.

Parameters

point The end of the vector (starting from the start point of the line segment) to compute the cross product onto the line segment.

Returns: The cross product of the unit direction and the vector, which is from the start point of the line segment to the input point.

◆ ProjectOntoUnit()

double apollo::common::math::LineSegment2d::ProjectOntoUnit ( const Vec2d & point ) const

Compute the projection of a vector onto the line segment.

Parameters

point The end of the vector (starting from the start point of the line segment) to compute the projection onto the line segment.

Returns: The projection of the vector, which is from the start point of the line segment to the input point, onto the unit direction.

◆ rotate()

Vec2d apollo::common::math::LineSegment2d::rotate ( const double angle )

Get a new line-segment with the same start point, but rotated counterclock-wise by the given amount.

Returns: The rotated line-segment's end-point.

◆ sin_heading()

double apollo::common::math::LineSegment2d::sin_heading ( ) const

inline

Get the sine of the heading.

Returns: The sine of the heading.

◆ start()

const Vec2d& apollo::common::math::LineSegment2d::start ( ) const

inline

Get the start point.

Returns: The start point of the line segment.

◆ unit_direction()

const Vec2d& apollo::common::math::LineSegment2d::unit_direction ( ) const

inline

Get the unit direction from the start point to the end point.

Returns: The start point of the line segment.

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

modules/common/math/line_segment2d.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LineSegment2d() [1/2]

◆ LineSegment2d() [2/2]

Member Function Documentation

◆ center()

◆ cos_heading()

◆ DebugString()

◆ DistanceSquareTo() [1/2]

◆ DistanceSquareTo() [2/2]

◆ DistanceTo() [1/2]

◆ DistanceTo() [2/2]

◆ end()

◆ GetIntersect()

◆ GetPerpendicularFoot()

◆ HasIntersect()

◆ heading()

◆ IsPointIn()

◆ length()

◆ length_sqr()

◆ ProductOntoUnit()

◆ ProjectOntoUnit()

◆ rotate()

◆ sin_heading()

◆ start()

◆ unit_direction()