Detailed Description

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.

See also:: CPoseOrPoint,CPose, CPoint

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:

[legend]

List of all members.

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.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
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 (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)
Static Public Member Functions
static bool	is_3D ()
static bool	is_PDF ()
Public Attributes
mrpt::math::CArrayDouble< 3 >	m_coords
	[x,y,z]
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
RTTI stuff
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPoint3DPtr	Create ()
STL-like methods and typedefs
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
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream

Member Typedef Documentation

typedef const double& mrpt::poses::CPoint3D::const_reference

Definition at line 102 of file CPoint3D.h.

typedef std::ptrdiff_t mrpt::poses::CPoint3D::difference_type

Definition at line 104 of file CPoint3D.h.

typedef double& mrpt::poses::CPoint3D::reference

Definition at line 101 of file CPoint3D.h.

typedef std::size_t mrpt::poses::CPoint3D::size_type

Definition at line 103 of file CPoint3D.h.

typedef CPoint3DPtr mrpt::poses::CPoint3D::SmartPtr

A typedef for the associated smart pointer

Definition at line 55 of file CPoint3D.h.

typedef double mrpt::poses::CPoint3D::value_type

The type of the elements.

Definition at line 100 of file CPoint3D.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 92 of file CPoint3D.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 95 of file CPoint3D.h.

anonymous enum

Enumerator:

static_size

Definition at line 108 of file CPoint3D.h.

Constructor & Destructor Documentation

mrpt::poses::CPoint3D::CPoint3D	(	const double	x = `0`,
		const double	y = `0`,
		const double	z = `0`
	)		`[inline]`

Constructor for initializing point coordinates.

Definition at line 62 of file CPoint3D.h.

References Eigen::internal::y.

mrpt::poses::CPoint3D::CPoint3D ( const mrpt::math::CArrayDouble< 3 > & xyz ) [inline, explicit]

Constructor from a XYZ 3-vector.

Definition at line 65 of file CPoint3D.h.

mrpt::poses::CPoint3D::CPoint3D ( const CPoint2D & p )

Constructor from an CPoint2D object.

mrpt::poses::CPoint3D::CPoint3D ( const CPose3D & p ) [inline, explicit]

Constructor from an CPose3D object.

Definition at line 71 of file CPoint3D.h.

mrpt::poses::CPoint3D::CPoint3D ( const CPose2D & p ) [explicit]

Constructor from an CPose2D object.

mrpt::poses::CPoint3D::CPoint3D ( const mrpt::math::TPoint3D & p ) [inline]

Constructor from lightweight object.

Definition at line 77 of file CPoint3D.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint3D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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

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.

References static_size.

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

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.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::format(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

Definition at line 99 of file CPoint.h.

References mrpt::poses::CPoint::asString().

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CPoint3DPtr mrpt::poses::CPoint3D::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPoint3D::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::poses::CPoint3D::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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).

Definition at line 151 of file CObject.h.

static bool mrpt::poses::CPoint3D::empty ( ) [inline, static]

Definition at line 110 of file CPoint3D.h.

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

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.

References THROW_EXCEPTION, ASSERT_EQUAL_, mrpt::math::size(), and static_size.

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

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.

References mrpt::dynamicsize_vector::resize(), and static_size.

vector_double mrpt::poses::CPoint::getAsVector ( ) 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 76 of file CPoint.h.

References mrpt::poses::CPoint::getAsVector().

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

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.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint3D::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

static bool mrpt::poses::CPoint3D::is_3D ( ) [inline, static]

Definition at line 93 of file CPoint3D.h.

static bool mrpt::poses::CPoint3D::is_PDF ( ) [inline, static]

Definition at line 96 of file CPoint3D.h.

static size_type mrpt::poses::CPoint3D::max_size ( ) [inline, static]

Definition at line 111 of file CPoint3D.h.

References static_size.

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

Scalar multiplication.

Definition at line 62 of file CPoint.h.

References static_size.

CPoint3D mrpt::poses::CPoint3D::operator+ ( const CPoint3D & b ) const

Returns this point plus point "b", i.e.

result = this + b

CPose3D mrpt::poses::CPoint3D::operator+ ( const CPose3D & b ) const

Returns this point plus pose "b", i.e.

result = this + b

CPoint3D mrpt::poses::CPoint3D::operator- ( const CPose3D & b ) const

Returns this point as seen from "b", i.e.

result = this - b

CPoint3D mrpt::poses::CPoint3D::operator- ( const CPoint3D & b ) const

Returns this point minus point "b", i.e.

result = this - b

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

Definition at line 115 of file CPoint.h.

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

Definition at line 116 of file CPoint.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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.

Parameters:

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.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

static void mrpt::poses::CPoint3D::resize ( const size_t n ) [inline, static]

Definition at line 112 of file CPoint3D.h.

References static_size, and mrpt::format().

static size_type mrpt::poses::CPoint3D::size ( ) [inline, static]

Definition at line 109 of file CPoint3D.h.

References static_size.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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.

Parameters:

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.

Exceptions:

std::exception On any error, see CStream::WriteBuffer