plane3d.hpp

Go to the documentation of this file.

#ifndef PLANE3D_HPP
#define PLANE3D_HPP
#include <Eigen/Dense>

//#define DEBUG_PLANE


class Plane3D
{
public:

  Plane3D(const double coeffs[4])
    {
      for(int i = 0; i < 4; i++)
      {
        m_coeffs[i] = coeffs[i];
      }
    }
  
  Plane3D(const Eigen::Matrix4f coeffs)
    {
      for(int i = 0; i < 3; i++)
      {
        m_coeffs[i] = coeffs(i,2);
      }
      m_coeffs[3] = 0.0;
      for(int i = 0; i < 3; i++)
      {
        
        m_coeffs[3] -= m_coeffs[i]*coeffs(i,3);
      }
    }

  Plane3D(const Eigen::Matrix4d coeffs)
    {
      for(int i = 0; i < 3; i++)
      {
        m_coeffs[i] = coeffs(i,2);
      }
      m_coeffs[3] = 0.0;
      for(int i = 0; i < 3; i++)
      {
        
        m_coeffs[3] -= m_coeffs[i]*coeffs(i,3);
      }
    }
  
  Plane3D() 
    { 
      for(int i = 0; i < 4; i++) 
      { 
        m_coeffs[i] = 0.0; 
      } 
    };
  ~Plane3D() { }

  inline void setCoefficient(const int i, const double c)
    {
      m_coeffs[i] = c;
    }
  inline double getCoefficient(const int i)
    {
      return m_coeffs[i];
    }
  inline double getDistance(double const pt[3]) const
    {
      double ret = 0.0;
      for(int i = 0; i < 3; i++)
      {
        ret += pt[i]*m_coeffs[i];
      }
      ret += m_coeffs[3];
#ifdef DEBUG_PLANE
      cerr << "Distance: " << ret << endl;
#endif
      return ret;
    }
  
 // void projectOnto(double projected[3], double const pt[3] ) const; DELETED
      
protected:
  double m_coeffs[4];
  
};

#endif // PLANE3D_HPP