georegression.struct.plane.PlaneGeneral3D_F64 Maven / Gradle / Ivy

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GeoRegression is a free Java based geometry library for scientific computing in fields such as robotics and computer vision with a focus on 2D/3D space.

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/*
 * Copyright (C) 2020, Peter Abeles. All Rights Reserved.
 *
 * This file is part of Geometric Regression Library (GeoRegression).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package georegression.struct.plane;

import org.ejml.FancyPrint;

import java.io.Serializable;
import java.util.Objects;

/**
 * 
 * Represents the line using four parameters such that any point on the planes obeys the
 * following formula, A*x + B*y + C*z = D.  Any 3D plane can be represented using this notation.
 * This formulation is also known as scalar.
 * 
 *
 * 
 * If in Hessian normal form, then (A,B,C) is the unit normal, and D is distance of the plane from the origin.  The
 * sign of D determines the side on the plane on which the origin is located.
 * 
 *
 * 
 * NOTE: The normal of the plane is the vector (A,B,C)
 * 
 *
 * @author Peter Abeles
 */
public class PlaneGeneral3D_F64 implements Serializable {
	/**
	 * Coefficients which define the plane.
	 */
	public double A,B,C,D;

	public PlaneGeneral3D_F64( PlaneGeneral3D_F64 src ) {
		setTo(src);
	}

	public PlaneGeneral3D_F64(double a, double b, double c, double d) {
		setTo(a,b,c,d);
	}

	public PlaneGeneral3D_F64() {
	}

	public double getA() {
		return A;
	}

	public double getB() {
		return B;
	}

	public double getC() {
		return C;
	}

	public double getD() {
		return D;
	}

	public void setTo(double a, double b, double c, double d) {
		this.A = a;
		this.B = b;
		this.C = c;
		this.D = d;
	}

	public void setTo(PlaneGeneral3D_F64 src ) {
		this.A = src.A;
		this.B = src.B;
		this.C = src.C;
		this.D = src.D;
	}

	public void setA(double a) {
		A = a;
	}

	public void setB(double b) {
		B = b;
	}

	public void setC(double c) {
		C = c;
	}

	public void setD(double d) {
		D = d;
	}

	@Override
	public String toString() {
		FancyPrint fancy = new FancyPrint();
		return getClass().getSimpleName()+
				"( A = "+fancy.s(A)+" B = "+fancy.s(B)+
				" C = "+fancy.s(C)+" D = "+fancy.s(D)+" )";
	}

	@Override
	public boolean equals(Object obj) {
		if (this == obj) return true;
		if( !(obj instanceof PlaneGeneral3D_F64)) return false;
		var o = (PlaneGeneral3D_F64) obj;
		return Double.compare(o.A, A) == 0 &&
				Double.compare(o.B, B) == 0 &&
				Double.compare(o.C, C) == 0 &&
				Double.compare(o.D, D) == 0;
	}

	@Override
	public int hashCode() {
		return Objects.hash(A, B, C, D);
	}
}