A class used to store a 3D point.
For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.
Definition at line 32 of file CPoint3D.h.
#include <mrpt/poses/CPoint3D.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 0 } |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CPoint3D (const double x=0, const double y=0, const double z=0) | |
Constructor for initializing point coordinates. More... | |
CPoint3D (const mrpt::math::CArrayDouble< 3 > &xyz) | |
Constructor from a XYZ 3-vector. More... | |
CPoint3D (const CPoint2D &p) | |
Constructor from an CPoint2D object. More... | |
CPoint3D (const CPose3D &p) | |
Constructor from an CPose3D object. More... | |
CPoint3D (const CPose2D &p) | |
Constructor from an CPose2D object. More... | |
CPoint3D (const mrpt::math::TPoint3D &p) | |
Constructor from lightweight object. More... | |
CPoint3D | operator- (const CPose3D &b) const |
Returns this point as seen from "b", i.e. More... | |
CPoint3D | operator- (const CPoint3D &b) const |
Returns this point minus point "b", i.e. More... | |
CPoint3D | operator+ (const CPoint3D &b) const |
Returns this point plus point "b", i.e. More... | |
CPose3D | operator+ (const CPose3D &b) const |
Returns this point plus pose "b", i.e. More... | |
void | setToNaN () MRPT_OVERRIDE |
Set all data fields to quiet NaN. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Methods common to all 2D or 3D points | |
void | AddComponents (const OTHERCLASS &b) |
Scalar addition of all coordinates. More... | |
void | operator*= (const double s) |
Scalar multiplication. More... | |
void | getAsVector (mrpt::math::CVectorDouble &v) const |
Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. More... | |
mrpt::math::CVectorDouble | getAsVector () const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
void | getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More... | |
void | asString (std::string &s) const |
Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) More... | |
std::string | asString () const |
void | fromString (const std::string &s) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" ) More... | |
const double & | operator[] (unsigned int i) const |
double & | operator[] (unsigned int i) |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
mrpt::math::CArrayDouble< 3 > | m_coords |
[x,y,z] More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
STL-like methods and typedefs | |
enum | { static_size = 3 } |
typedef double | value_type |
The type of the elements. More... | |
typedef double & | reference |
typedef const double & | const_reference |
typedef std::size_t | size_type |
typedef std::ptrdiff_t | difference_type |
static size_type | size () |
static bool | empty () |
static size_type | max_size () |
static void | resize (const size_t n) |
RTTI stuff <br> | |
typedef CPoint3DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPoint3D |
static mrpt::utils::TRuntimeClassId | classCPoint3D |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPoint3DPtr | Create () |
double | x () const |
Common members of all points & poses classes. More... | |
double & | x () |
void | x (const double v) |
double | y () const |
double & | y () |
void | y (const double v) |
void | x_incr (const double v) |
void | y_incr (const double v) |
template<class OTHERCLASS > | |
double | sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the squared euclidean distance to another pose/point: More... | |
template<class OTHERCLASS > | |
double | distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the Euclidean distance to another pose/point: More... | |
double | distanceTo (const mrpt::math::TPoint3D &b) const |
Returns the euclidean distance to a 3D point: More... | |
double | distance2DToSquare (double ax, double ay) const |
Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More... | |
double | distance3DToSquare (double ax, double ay, double az) const |
Returns the squared 3D distance from this pose/point to a 3D point. More... | |
double | distance2DTo (double ax, double ay) const |
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More... | |
double | distance3DTo (double ax, double ay, double az) const |
Returns the 3D distance from this pose/point to a 3D point. More... | |
double | norm () const |
Returns the euclidean norm of vector: ![]() | |
mrpt::math::CVectorDouble | getAsVectorVal () const |
Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More... | |
mrpt::math::CMatrixDouble44 | getHomogeneousMatrixVal () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More... | |
void | getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More... | |
mrpt::math::CMatrixDouble44 | getInverseHomogeneousMatrix () const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
static bool | is3DPoseOrPoint () |
Return true for poses or points with a Z component, false otherwise. More... | |
typedef const double& mrpt::poses::CPoint3D::const_reference |
Definition at line 82 of file CPoint3D.h.
typedef std::ptrdiff_t mrpt::poses::CPoint3D::difference_type |
Definition at line 84 of file CPoint3D.h.
typedef double& mrpt::poses::CPoint3D::reference |
Definition at line 81 of file CPoint3D.h.
typedef std::size_t mrpt::poses::CPoint3D::size_type |
Definition at line 83 of file CPoint3D.h.
typedef CPoint3DPtr mrpt::poses::CPoint3D::SmartPtr |
A typedef for the associated smart pointer
Definition at line 35 of file CPoint3D.h.
typedef double mrpt::poses::CPoint3D::value_type |
The type of the elements.
Definition at line 80 of file CPoint3D.h.
anonymous enum |
Enumerator | |
---|---|
is_3D_val |
Definition at line 72 of file CPoint3D.h.
anonymous enum |
Enumerator | |
---|---|
is_PDF_val |
Definition at line 75 of file CPoint3D.h.
anonymous enum |
Enumerator | |
---|---|
static_size |
Definition at line 88 of file CPoint3D.h.
|
inline |
Constructor for initializing point coordinates.
Definition at line 42 of file CPoint3D.h.
|
inlineexplicit |
Constructor from a XYZ 3-vector.
Definition at line 45 of file CPoint3D.h.
|
inline |
Constructor from lightweight object.
Definition at line 57 of file CPoint3D.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
|
staticprotected |
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )
|
inlineinherited |
|
static |
|
static |
|
inlineinherited |
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
Definition at line 165 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare().
|
inlineinherited |
Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
Definition at line 156 of file CPoseOrPoint.h.
References mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo().
|
inlineinherited |
Returns the 3D distance from this pose/point to a 3D point.
Definition at line 168 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().
|
inlineinherited |
Returns the squared 3D distance from this pose/point to a 3D point.
Definition at line 159 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo().
|
inlineinherited |
Returns the Euclidean distance to another pose/point:
Definition at line 150 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().
|
inlineinherited |
Returns the euclidean distance to a 3D point:
Definition at line 171 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
|
inlinestatic |
Definition at line 90 of file CPoint3D.h.
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
Definition at line 181 of file CPoseOrPoint.h.
|
inlineinherited |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
|
inlineinherited |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
Definition at line 191 of file CPoseOrPoint.h.
References mrpt::math::UNINITIALIZED_MATRIX.
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 208 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix().
|
inlineinherited |
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
Definition at line 201 of file CPoseOrPoint.h.
References mrpt::math::homogeneousMatrixInverse().
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
|
inlinestaticinherited |
Return true for poses or points with a Z component, false otherwise.
Definition at line 127 of file CPoseOrPoint.h.
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::operator<<(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().
|
inlinestatic |
Definition at line 73 of file CPoint3D.h.
|
inlinestatic |
Definition at line 76 of file CPoint3D.h.
|
inlinestatic |
Definition at line 91 of file CPoint3D.h.
References static_size.
|
inlineinherited |
Returns the euclidean norm of vector: .
Definition at line 174 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inlinestatic |
Definition at line 35 of file CPoint3D.h.
|
inline |
Definition at line 35 of file CPoint3D.h.
|
inlineinherited |
Returns this point plus point "b", i.e.
result = this + b
Returns this point plus pose "b", i.e.
result = this + b
Returns this point minus point "b", i.e.
result = this - b
Returns this point as seen from "b", i.e.
result = this - b
|
inlineinherited |
|
inlineinherited |
|
protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
|
inlinestatic |
Definition at line 92 of file CPoint3D.h.
References mrpt::format(), and static_size.
|
virtual |
Set all data fields to quiet NaN.
Implements mrpt::poses::CPoseOrPoint< DERIVEDCLASS >.
|
inlinestatic |
Definition at line 89 of file CPoint3D.h.
References static_size.
|
inlineinherited |
Returns the squared euclidean distance to another pose/point:
Definition at line 130 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().
|
inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
|
protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
|
inlineinherited |
Definition at line 116 of file CPoseOrPoint.h.
|
inlineinherited |
Common members of all points & poses classes.
< Get X coord.
Definition at line 113 of file CPoseOrPoint.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix(), mrpt::utils::CRobotSimulator::getX(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CColouredPointsMap::insertPoint(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().
|
inlineinherited |
v | Set X coord. |
Definition at line 119 of file CPoseOrPoint.h.
|
inlineinherited |
v | X+=v |
Definition at line 122 of file CPoseOrPoint.h.
|
inlineinherited |
Definition at line 117 of file CPoseOrPoint.h.
|
inlineinherited |
< Get Y coord.
Definition at line 114 of file CPoseOrPoint.h.
Referenced by mrpt::poses::CPoint< DERIVEDCLASS >::asString(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix(), mrpt::utils::CRobotSimulator::getY(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CColouredPointsMap::insertPoint(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().
|
inlineinherited |
v | Set Y coord. |
Definition at line 120 of file CPoseOrPoint.h.
|
inlineinherited |
v | Y+=v |
Definition at line 123 of file CPoseOrPoint.h.
|
staticprotected |
Definition at line 35 of file CPoint3D.h.
|
staticinherited |
|
static |
Definition at line 35 of file CPoint3D.h.
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 35 of file CPoint3D.h.
mrpt::math::CArrayDouble<3> mrpt::poses::CPoint3D::m_coords |
[x,y,z]
Definition at line 38 of file CPoint3D.h.
Page generated by Doxygen 1.9.2 for MRPT 1.4.0 SVN: at Mon Sep 20 00:21:41 UTC 2021 |