[Jderobot-admin] jderobot-r967 - trunk/src/libs/geometry/math

[rocapal en jderobot.org]

Author: rocapal
Date: 2013-08-12 08:33:28 +0200 (Mon, 12 Aug 2013)
New Revision: 967

Modified:
   trunk/src/libs/geometry/math/Segment3D.cpp
   trunk/src/libs/geometry/math/Segment3D.h
Log:
#26 added methods to getPoint given the distance


Modified: trunk/src/libs/geometry/math/Segment3D.cpp
===================================================================
--- trunk/src/libs/geometry/math/Segment3D.cpp	2013-08-06 11:17:33 UTC (rev 966)
+++ trunk/src/libs/geometry/math/Segment3D.cpp	2013-08-12 06:33:28 UTC (rev 967)
@@ -3,7 +3,7 @@
  *  Copyright (C) 1997-2013 JDERobot Developers Team
  *
  *  This program is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published this->pend->getPoint()(1)
+ *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation, either version 3 of the License, or
  *  (at your option) any later version.
  *
@@ -16,6 +16,7 @@
  *  along with this program.  If not, see http://www.gnu.org/licenses/. 
  *
  *  Authors : Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
  *
  */
 
@@ -63,3 +64,27 @@
   return o;
 }
 
+Point3D*
+Segment3D::getPointByZ (const float Z)
+{
+
+  // create Vector
+  double x,y,z,t;
+  x = pstart->getPoint()(0) - pend->getPoint()(0);
+  y = pstart->getPoint()(1) - pend->getPoint()(1);
+  z = pstart->getPoint()(2) - pend->getPoint()(2);
+
+  Point3D *vector = new Point3D(x,y,z);
+  
+  // pstart and vector define the segment in parametrics
+  t = (Z - pstart->getPoint()(2)) / vector->getPoint()(2);
+  x = pstart->getPoint()(0) + t*vector->getPoint()(0);
+  y = pstart->getPoint()(1) + t*vector->getPoint()(1);
+  z = Z;  
+
+  delete(vector);
+
+  Point3D* res = new Point3D(x,y,z);
+  return res;
+}
+

Modified: trunk/src/libs/geometry/math/Segment3D.h
===================================================================
--- trunk/src/libs/geometry/math/Segment3D.h	2013-08-06 11:17:33 UTC (rev 966)
+++ trunk/src/libs/geometry/math/Segment3D.h	2013-08-12 06:33:28 UTC (rev 967)
@@ -16,6 +16,7 @@
  *  along with this program.  If not, see http://www.gnu.org/licenses/. 
  *
  *  Authors : Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
  *
  *
  *
@@ -53,6 +54,10 @@
   /*Operators*/
   friend std::ostream& operator <<(std::ostream &o,const Segment3D &s);
   
+  /*Get point with a specific distance from pstart*/
+  Point3D* getPointByZ (const float Z);
+
+  
 private:
 
   Point3D *pstart;