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<section id="d-line">
<h1>2D line<a class="headerlink" href="#d-line" title="Permalink to this heading"></a></h1>
<dl class="py class">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Line2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">line</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2" title="Permalink to this definition"></a></dt>
<dd><p>Class to represent 2D lines</p>
<p>The internal representation is in homogeneous format</p>
<div class="math notranslate nohighlight">
\[ax + by + c = 0\]</div>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.General">
<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">General</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">c</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.General"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.General" title="Permalink to this definition"></a></dt>
<dd><p>Create line from general line</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>m</strong> (<em>float</em>) – line gradient</p></li>
<li><p><strong>c</strong> (<em>float</em>) – line intercept</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>a 2D line</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>a Line2 instance</p>
</dd>
</dl>
<p>Creates a line from the parameters of the general line <span class="math notranslate nohighlight">\(y = mx + c\)</span>.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>A vertical line cannot be represented.</p>
</div>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.Join">
<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Join</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.Join"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.Join" title="Permalink to this definition"></a></dt>
<dd><p>Create 2D line from two points</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>p1</strong> (<em>array_like</em><em>(</em><em>2</em><em>) or </em><em>array_like</em><em>(</em><em>3</em><em>)</em>) – point on the line</p></li>
<li><p><strong>p2</strong> (<em>array_like</em><em>(</em><em>2</em><em>) or </em><em>array_like</em><em>(</em><em>3</em><em>)</em>) – another point on the line</p></li>
</ul>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-class docutils literal notranslate"><span class="pre">Self</span></code></span></p>
</dd>
</dl>
<p>The points can be given in Euclidean or homogeneous form.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.TwoPoints">
<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">TwoPoints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.TwoPoints"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.TwoPoints" title="Permalink to this definition"></a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-class docutils literal notranslate"><span class="pre">Self</span></code></span></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.contains">
<span class="sig-name descname"><span class="pre">contains</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">p</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">20</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.contains"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.contains" title="Permalink to this definition"></a></dt>
<dd><p>Test if point is in line</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>p1</strong> (<em>array_like</em><em>(</em><em>2</em><em>) or </em><em>array_like</em><em>(</em><em>3</em><em>)</em>) – point to test</p></li>
<li><p><strong>tol</strong> (<em>float</em>) – tolerance in units of eps, defaults to 20</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>True if point lies in the line</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.contains_polygon_point">
<span class="sig-name descname"><span class="pre">contains_polygon_point</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.contains_polygon_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.contains_polygon_point" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.distance_line_line">
<span class="sig-name descname"><span class="pre">distance_line_line</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.distance_line_line"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.distance_line_line" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.distance_line_point">
<span class="sig-name descname"><span class="pre">distance_line_point</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.distance_line_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.distance_line_point" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.general">
<span class="sig-name descname"><span class="pre">general</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.general"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.general" title="Permalink to this definition"></a></dt>
<dd><p>Parameters of general line</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>parameters of general line (m, c)</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>ndarray(2)</p>
</dd>
</dl>
<p>Return the parameters of a general line <span class="math notranslate nohighlight">\(y = mx + c\)</span>.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.intersect">
<span class="sig-name descname"><span class="pre">intersect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">20</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.intersect"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.intersect" title="Permalink to this definition"></a></dt>
<dd><p>Intersection with line</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>other</strong> (<a class="reference internal" href="classes-2d.html#spatialmath.geom2d.Line2" title="spatialmath.geom2d.Line2"><em>Line2</em></a>) – another 2D line</p></li>
<li><p><strong>tol</strong> (<em>float</em>) – tolerance in units of eps, defaults to 20</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>intersection point in homogeneous form</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>ndarray(3)</p>
</dd>
</dl>
<p>If the lines are parallel then the third element of the returned
homogeneous point will be zero (an ideal point).</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.intersect_polygon___line">
<span class="sig-name descname"><span class="pre">intersect_polygon___line</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.intersect_polygon___line"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.intersect_polygon___line" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.intersect_segment">
<span class="sig-name descname"><span class="pre">intersect_segment</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">p1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">p2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">20</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.intersect_segment"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.intersect_segment" title="Permalink to this definition"></a></dt>
<dd><p>Test for line intersecting line segment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>p1</strong> (<em>array_like</em><em>(</em><em>2</em><em>) or </em><em>array_like</em><em>(</em><em>3</em><em>)</em>) – start of line segment</p></li>
<li><p><strong>p2</strong> (<em>array_like</em><em>(</em><em>2</em><em>) or </em><em>array_like</em><em>(</em><em>3</em><em>)</em>) – end of line segment</p></li>
<li><p><strong>tol</strong> (<em>float</em>) – tolerance in units of eps, defaults to 20</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>True if they intersect</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p>Tests whether the line intersects the line segment defined by endpoints
<code class="docutils literal notranslate"><span class="pre">p1</span></code> and <code class="docutils literal notranslate"><span class="pre">p2</span></code> which are given in Euclidean or homogeneous form.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.plot">
<span class="sig-name descname"><span class="pre">plot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.plot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.plot" title="Permalink to this definition"></a></dt>
<dd><p>Plot the line using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>kwargs</strong> – arguments passed to Matplotlib <code class="docutils literal notranslate"><span class="pre">pyplot.plot</span></code></p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></span></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.geom2d.Line2.points_join">
<span class="sig-name descname"><span class="pre">points_join</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/geom2d.html#Line2.points_join"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.geom2d.Line2.points_join" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
</dd></dl>
</section>
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