Detailed Description

A base class for representing a point in 2D or 3D.

For more information refer to the 2D/3D Geometry tutorial online.

Note:: This class is based on the CRTP design pattern

See also:: CPoseOrPoint, CPose

#include <mrpt/poses/CPoint.h>

Inheritance diagram for mrpt::poses::CPoint:

[legend]

List of all members.

Public Member Functions
Methods common to all 2D or 3D points
template<class OTHERCLASS >
void	AddComponents (const OTHERCLASS &b)
	Scalar addition of all coordinates.
void	operator*= (const double s)
	Scalar multiplication.
void	getAsVector (vector_double &v) const
	Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].
vector_double	getAsVector () const
void	getHomogeneousMatrix (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)
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)
double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point:
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: $\|\|\mathbf{x}\|\| = \sqrt{x^2+y^2+z^2}$ .
vector_double	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
CMatrixDouble44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
void	getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const
static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise.

Member Function Documentation

template<class OTHERCLASS >

void mrpt::poses::CPoint::AddComponents ( const OTHERCLASS & b ) [inline]

Scalar addition of all coordinates.

This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose"

Definition at line 54 of file CPoint.h.

void mrpt::poses::CPoint::asString ( std::string & s ) const [inline]

Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )

See also:: fromString

Definition at line 93 of file CPoint.h.

std::string mrpt::poses::CPoint::asString ( ) const [inline]

Definition at line 99 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString().

double mrpt::poses::CPoseOrPoint::distance2DTo	(	double	ax,
		double	ay
	)		const `[inline, inherited]`

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 184 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint::distance2DToSquare().

double mrpt::poses::CPoseOrPoint::distance2DToSquare	(	double	ax,
		double	ay
	)		const `[inline, inherited]`

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 176 of file CPoseOrPoint.h.

References mrpt::utils::square(), mrpt::poses::CPoseOrPoint::x(), and mrpt::poses::CPoseOrPoint::y().

double mrpt::poses::CPoseOrPoint::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const `[inline, inherited]`

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 187 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint::distance3DToSquare().

double mrpt::poses::CPoseOrPoint::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const `[inline, inherited]`

Returns the squared 3D distance from this pose/point to a 3D point.

Definition at line 179 of file CPoseOrPoint.h.

References mrpt::utils::square(), mrpt::poses::CPoseOrPoint::x(), mrpt::poses::CPoseOrPoint::y(), and mrpt::poses::CPoseOrPoint::is3DPoseOrPoint().

double mrpt::poses::CPoseOrPoint::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const [inline, inherited]

Returns the Euclidean distance to another pose/point:

Definition at line 170 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint::sqrDistanceTo().

double mrpt::poses::CPoseOrPoint::distanceTo ( const mrpt::math::TPoint3D & b ) const [inline, inherited]

Returns the euclidean distance to a 3D point:

Definition at line 190 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint::distance3DTo(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::poses::CPoint::fromString ( const std::string & s ) [inline]

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )

See also:: asString

Exceptions:

std::exception On invalid format

Definition at line 105 of file CPoint.h.

void mrpt::poses::CPoint::getAsVector ( vector_double & v ) const [inline]

Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].

Definition at line 69 of file CPoint.h.

vector_double mrpt::poses::CPoint::getAsVector ( ) const [inline]

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 76 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::getAsVector().

vector_double mrpt::poses::CPoseOrPoint::getAsVectorVal ( ) const [inline, inherited]

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 199 of file CPoseOrPoint.h.

void mrpt::poses::CPoint::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const [inline]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also:: getInverseHomogeneousMatrix

Definition at line 81 of file CPoint.h.

CMatrixDouble44 mrpt::poses::CPoseOrPoint::getHomogeneousMatrixVal ( ) const [inline, inherited]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also:: getInverseHomogeneousMatrix

Definition at line 209 of file CPoseOrPoint.h.

References mrpt::math::UNINITIALIZED_MATRIX.

void mrpt::poses::CPoseOrPoint::getInverseHomogeneousMatrix ( math::CMatrixDouble44 & out_HM ) const [inline, inherited]

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also:: getHomogeneousMatrix

Definition at line 219 of file CPoseOrPoint.h.

References mrpt::math::homogeneousMatrixInverse().

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint::getInverseHomogeneousMatrix ( ) const [inline, inherited]

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 226 of file CPoseOrPoint.h.

References mrpt::math::UNINITIALIZED_MATRIX, and mrpt::poses::CPoseOrPoint::getInverseHomogeneousMatrix().

static bool mrpt::poses::CPoseOrPoint::is3DPoseOrPoint ( ) [inline, static, inherited]

Return true for poses or points with a Z component, false otherwise.

Definition at line 149 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString().

double mrpt::poses::CPoseOrPoint::norm ( ) const [inline, inherited]

Returns the euclidean norm of vector: $||\mathbf{x}|| = \sqrt{x^2+y^2+z^2}$ .

Definition at line 193 of file CPoseOrPoint.h.

References mrpt::utils::square(), mrpt::poses::CPoseOrPoint::x(), mrpt::poses::CPoseOrPoint::y(), and mrpt::poses::CPoseOrPoint::is3DPoseOrPoint().

void mrpt::poses::CPoint::operator*= ( const double s ) [inline]

Scalar multiplication.

Definition at line 62 of file CPoint.h.

const double& mrpt::poses::CPoint::operator[] ( unsigned int i ) const [inline]

Definition at line 115 of file CPoint.h.

double& mrpt::poses::CPoint::operator[] ( unsigned int i ) [inline]

Definition at line 116 of file CPoint.h.

double mrpt::poses::CPoseOrPoint::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const [inline, inherited]

Returns the squared euclidean distance to another pose/point:

Definition at line 152 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint::x(), and mrpt::poses::CPoseOrPoint::y().

double mrpt::poses::CPoseOrPoint::x ( ) const [inline, inherited]

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix().

double& mrpt::poses::CPoseOrPoint::x ( ) [inline, inherited]

Definition at line 138 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint::x ( const double v ) [inline, inherited]

Parameters:

v	Set X coord.

Definition at line 141 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint::x_incr ( const double v ) [inline, inherited]

Parameters:

v X+=v

Definition at line 144 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint::y ( ) const [inline, inherited]

< Get Y coord.

Definition at line 136 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), and mrpt::poses::CPoint< CPoint3D >::asString().

double& mrpt::poses::CPoseOrPoint::y ( ) [inline, inherited]

Definition at line 139 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint::y ( const double v ) [inline, inherited]

Parameters:

v	Set Y coord.

Definition at line 142 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint::y_incr ( const double v ) [inline, inherited]

Parameters:

v Y+=v

Definition at line 145 of file CPoseOrPoint.h.

Detailed Description

Public Member Functions

Member Function Documentation