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 | |
CPoint3D (const double x=0, const double y=0, const double z=0) | |
Constructor for initializing point coordinates. | |
CPoint3D (const mrpt::math::CArrayDouble< 3 > &xyz) | |
Constructor from a XYZ 3-vector. | |
CPoint3D (const CPoint2D &p) | |
Constructor from an CPoint2D object. | |
CPoint3D (const CPose3D &p) | |
Constructor from an CPose3D object. | |
CPoint3D (const CPose2D &p) | |
Constructor from an CPose2D object. | |
CPoint3D (const mrpt::math::TPoint3D &p) | |
Constructor from lightweight object. | |
CPoint3D | operator- (const CPose3D &b) const |
Returns this point as seen from "b", i.e. | |
CPoint3D | operator- (const CPoint3D &b) const |
Returns this point minus point "b", i.e. | |
CPoint3D | operator+ (const CPoint3D &b) const |
Returns this point plus point "b", i.e. | |
CPose3D | operator+ (const CPose3D &b) const |
Returns this point plus pose "b", i.e. | |
void | setToNaN () MRPT_OVERRIDE |
Set all data fields to quiet NaN. | |
Methods common to all 2D or 3D points | |
void | AddComponents (const OTHERCLASS &b) |
Scalar addition of all coordinates. | |
void | operator*= (const double s) |
Scalar multiplication. | |
void | getAsVector (mrpt::math::CVectorDouble &v) const |
Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. | |
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. | |
void | getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). | |
void | asString (std::string &s) const |
Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) | |
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]" ) | |
const double & | operator[] (unsigned int i) const |
double & | operator[] (unsigned int i) |
Static Public Member Functions | |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
mrpt::math::CArrayDouble< 3 > | m_coords |
[x,y,z] | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
STL-like methods and typedefs | |
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enum | { static_size = 3 } |
typedef double | value_type |
The type of the elements. | |
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 MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CPoint3DPtr | Create () |
double | x () const |
Common members of all points & poses classes. | |
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: | |
template<class OTHERCLASS > | |
double | distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the Euclidean distance to another pose/point: | |
double | distanceTo (const mrpt::math::TPoint3D &b) const |
Returns the euclidean distance to a 3D point: | |
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). | |
double | distance3DToSquare (double ax, double ay, double az) const |
Returns the squared 3D distance from this pose/point to a 3D point. | |
double | distance2DTo (double ax, double ay) const |
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). | |
double | distance3DTo (double ax, double ay, double az) const |
Returns the 3D distance from this pose/point to a 3D point. | |
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) | |
mrpt::math::CMatrixDouble44 | getHomogeneousMatrixVal () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). | |
void | getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. | |
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. | |
static bool | is3DPoseOrPoint () |
Return true for poses or points with a Z component, false otherwise. | |
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.
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 | |
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is_3D_val |
Definition at line 72 of file CPoint3D.h.
anonymous enum |
Enumerator | |
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is_PDF_val |
Definition at line 75 of file CPoint3D.h.
anonymous enum |
Enumerator | |
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static_size |
Definition at line 88 of file CPoint3D.h.
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inline |
Constructor for initializing point coordinates.
Definition at line 42 of file CPoint3D.h.
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inlineexplicit |
Constructor from a XYZ 3-vector.
Definition at line 45 of file CPoint3D.h.
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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.
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staticprotected |
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inlineinherited |
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inlineinherited |
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inlineinherited |
Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )
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static |
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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().
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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().
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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().
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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().
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inlineinherited |
Returns the Euclidean distance to another pose/point:
Definition at line 150 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().
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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.
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inlinestatic |
Definition at line 90 of file CPoint3D.h.
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inlineinherited |
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inlineinherited |
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inlineinherited |
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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.
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inlineinherited |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
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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.
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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().
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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().
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virtual |
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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().
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inlinestatic |
Definition at line 73 of file CPoint3D.h.
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inlinestatic |
Definition at line 76 of file CPoint3D.h.
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inlinestatic |
Definition at line 91 of file CPoint3D.h.
References static_size.
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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().
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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
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inlineinherited |
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inlineinherited |
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inlinestatic |
Definition at line 92 of file CPoint3D.h.
References mrpt::format(), and static_size.
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virtual |
Set all data fields to quiet NaN.
Implements mrpt::poses::CPoseOrPoint< DERIVEDCLASS >.
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inlinestatic |
Definition at line 89 of file CPoint3D.h.
References static_size.
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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().
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inlineinherited |
Definition at line 116 of file CPoseOrPoint.h.
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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().
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v | Set X coord. |
Definition at line 119 of file CPoseOrPoint.h.
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inlineinherited |
v | X+=v |
Definition at line 122 of file CPoseOrPoint.h.
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inlineinherited |
Definition at line 117 of file CPoseOrPoint.h.
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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().
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v | Set Y coord. |
Definition at line 120 of file CPoseOrPoint.h.
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v | Y+=v |
Definition at line 123 of file CPoseOrPoint.h.
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staticprotected |
Definition at line 35 of file CPoint3D.h.
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static |
Definition at line 35 of file CPoint3D.h.
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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.
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