Program Listing for File acme_plane.m¶
↰ Return to documentation for file (acme_plane.m)
% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
% %
% The ACME project %
% %
% Copyright (c) 2020, Davide Stocco and Enrico Bertolazzi. %
% %
% The ACME project and its components are supplied under the terms of %
% the open source BSD 2-Clause License. The contents of the ACME %
% project and its components may not be copied or disclosed except in %
% accordance with the terms of the BSD 2-Clause License. %
% %
% URL: https://opensource.org/licenses/BSD-2-Clause %
% %
% Davide Stocco %
% Department of Industrial Engineering %
% University of Trento %
% e-mail: davide.stocco@unitn.it %
% %
% Enrico Bertolazzi %
% Department of Industrial Engineering %
% University of Trento %
% e-mail: enrico.bertolazzi@unitn.it %
% %
% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
classdef acme_plane < acme_entity
%>
%> Class container for ACME plane object
%>
methods
%> Create a new C++ pointer to plane object instance
function this = acme_plane( varargin )
this.objectHandle = mex_plane( 'new', varargin{:} );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Delete C++ pointer to plane object instance
function delete( this )
mex_plane( 'delete', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Get object type as string
function out = type( this )
out = 'plane';
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Get plane origin as ACME point object
function out = getOrigin( this )
out = acme_point();
out.copyByHandle( mex_plane( 'getOrigin', this.objectHandle ) );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Get plane normal
function out = getNormal( this )
out = mex_plane( 'getNormal', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Set plane origin with an ACME point object
function setOrigin( this, other_obj )
mex_plane( 'setOrigin', this.objectHandle, other_obj.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Set plane normal
function setNormal( this, other_obj )
mex_plane( 'setNormal', this.objectHandle, other_obj.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Copy plane object from another plane
function copy( this, other_obj )
if (other_obj.type() == "plane")
mex_plane( 'copy', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::copy(): other_obj must be an ACME plane object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Copy plane object from another plane handle
function copyByHandle( this, handle )
mex_plane( 'copy', this.objectHandle, handle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Translate plane by vector
function translate( this, other_obj )
mex_plane( 'translate', this.objectHandle, other_obj.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Transform plane by 4x4 affine transformation matrix
function transform( this, varargin )
mex_plane( 'transform', this.objectHandle, varargin{:} );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if ACME point is inside the plane
function out = isInside( this, other_obj )
if (other_obj.type() == "point")
out = mex_plane( 'isInside', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::isInside(): other_obj must be an ACME point object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if plane is degenerated
function out = isDegenerated( this )
out = mex_plane( 'isDegenerated', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if planes are approximatively equal
function out = isApprox( this, other_obj )
if (other_obj.type() == "plane")
out = mex_plane( 'isApprox', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::isApprox(): other_obj must be an ACME plane object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Normalize normal vectoe
function normalize( this )
mex_plane( 'normalize', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Distance between an ACME point and plane
function out = distance( this, other_obj )
if (other_obj.type() == "point")
out = mex_plane( 'distance', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::distance(): other_obj must be an ACME point object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Squared distance between an ACME point and plane
function out = squaredDistance( this, other_obj )
if (other_obj.type() == "point")
out = mex_plane( 'squaredDistance', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::squaredDistance(): other_obj must be an ACME point object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Signed distance between an ACME point and plane
function out = signedDistance( this, other_obj )
if (other_obj.type() == "point")
out = mex_plane( 'signedDistance', this.objectHandle, other_obj.objectHandle );
else
error('mex_plane::signedDistance(): other_obj must be an ACME point object type.');
end
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Transform plane to normalized vector
function out = toNormalizedVector( this )
out = mex_plane( 'toNormalizedVector', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Swap plane vertices
function reverse( this )
mex_plane( 'reverse', this.objectHandle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if plane is parallel to an ACME object
function out = isParallel( this, other_obj )
out = mex_plane( 'isParallel', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if plane is orthogonal to an ACME object
function out = isOrthogonal( this, other_obj )
out = mex_plane( 'isOrthogonal', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if plane is colplanear to an ACME object
function out = isColplanear( this, other_obj )
out = mex_plane( 'isColplanear', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Check if plane is coplanar to an ACME object
function out = isCoplanar( this, other_obj )
out = mex_plane( 'isCoplanar', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Intersect plane with an ACME object
function out = intersection( this, other_obj )
[handle, type] = mex_plane( 'intersection', this.objectHandle, other_obj.objectHandle, other_obj.type() );
out = eval( strcat( 'acme_', type, '()' ) );
out.copyByHandle( handle );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Display object data
function disp( this )
disp( [this.getOrigin().get(), this.getNormal()] );
end
%
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
%
%> Plot plane object
function plot( this, figure_name, color )
figure_name;
hold on;
origin = this.getOrigin().get();
normal = this.getNormal();
% Find two orthonormal vectors orthogonal to plane normal
w = null(normal');
limit = 4;
[P,Q] = meshgrid(-limit:2*limit:limit);
X = origin(1) + w(1,1)*P + w(1,2)*Q;
Y = origin(2) + w(2,1)*P + w(2,2)*Q;
Z = origin(3) + w(3,1)*P + w(3,2)*Q;
s = surf( X, Y, Z, 'FaceAlpha', 0.5);
s.FaceColor = color;
s.EdgeColor = 'none';
hold off;
end
end
end
