mrpt::math::TPoint3D Struct Reference

Detailed Description

Lightweight 3D point.

Allows coordinate access using [] operator.

See Also

mrpt::poses::CPoint3D, mrpt::math::TPoint3Df

Definition at line 292 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
	TPoint3D (double xx, double yy, double zz)
	Constructor from coordinates.
	TPoint3D ()
	Default fast constructor.
	TPoint3D (const TPoint3Df &p)
	Explicit constructor from coordinates.
	TPoint3D (const TPoint2D &p)
	Implicit constructor from TPoint2D.
	TPoint3D (const TPose2D &p)
	Constructor from TPose2D, losing information.
	TPoint3D (const TPose3D &p)
	Constructor from TPose3D, losing information.
	TPoint3D (const mrpt::poses::CPoint3D &p)
	Implicit constructor from heavyweight type.
	TPoint3D (const mrpt::poses::CPose3D &p)
	Constructor from heavyweight 3D pose.
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[].
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[].
double	distanceTo (const TPoint3D &p) const
	Point-to-point distance.
double	sqrDistanceTo (const TPoint3D &p) const
	Point-to-point distance, squared.
double	norm () const
	Point norm.
TPoint3D &	operator*= (const double f)
	Point scale.
void	getAsVector (vector_double &v) const
	Transformation into vector.
TPoint3D &	operator+= (const TPoint3D &p)
	Translation.
TPoint3D &	operator-= (const TPoint3D &p)
	Difference between points.
TPoint3D	operator+ (const TPoint3D &p) const
	Points addition.
TPoint3D	operator- (const TPoint3D &p) const
	Points substraction.
TPoint3D	operator* (double d) const
TPoint3D	operator/ (double d) const
bool	operator< (const TPoint3D &p) const
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )
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 -0.8]" )

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	z
	Z coordinate.

Constructor & Destructor Documentation

mrpt::math::TPoint3D::TPoint3D ( double  xx, double  yy, double  zz  )

inline

Constructor from coordinates.

Definition at line 298 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 300 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D ( const TPoint3Df &  p )

inlineexplicit

Explicit constructor from coordinates.

Definition at line 302 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes the z.

See Also

TPoint2D

mrpt::math::TPoint3D::TPoint3D ( const TPose2D &  p )

explicit

Constructor from TPose2D, losing information.

Zeroes the z.

See Also

TPose2D

mrpt::math::TPoint3D::TPoint3D ( const TPose3D &  p )

explicit

Constructor from TPose3D, losing information.

See Also

TPose3D

mrpt::math::TPoint3D::TPoint3D

(

const mrpt::poses::CPoint3D &

p

)

Implicit constructor from heavyweight type.

See Also

mrpt::poses::CPoint3D

mrpt::math::TPoint3D::TPoint3D ( const mrpt::poses::CPose3D &  p )

explicit

Constructor from heavyweight 3D pose.

See Also

mrpt::poses::CPose3D.

Member Function Documentation

void mrpt::math::TPoint3D::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )

See Also

fromString

Definition at line 416 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

std::string mrpt::math::TPoint3D::asString ( ) const

inline

Definition at line 417 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

double mrpt::math::TPoint3D::distanceTo ( const TPoint3D &  p ) const

inline

Point-to-point distance.

Definition at line 343 of file lightweight_geom_data.h.

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

void mrpt::math::TPoint3D::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See Also

asString

Exceptions

std::exception

On invalid format

void mrpt::math::TPoint3D::getAsVector ( vector_double &  v ) const

inline

Transformation into vector.

Definition at line 368 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize().

double mrpt::math::TPoint3D::norm ( ) const

inline

Point norm.

Definition at line 355 of file lightweight_geom_data.h.

References mrpt::utils::square().

TPoint3D mrpt::math::TPoint3D::operator* ( double  d ) const

inline

Definition at line 403 of file lightweight_geom_data.h.

TPoint3D& mrpt::math::TPoint3D::operator*= ( const double  f )

inline

Point scale.

Definition at line 361 of file lightweight_geom_data.h.

TPoint3D mrpt::math::TPoint3D::operator+ ( const TPoint3D &  p ) const

inline

Points addition.

Definition at line 393 of file lightweight_geom_data.h.

References x, y, and z.

TPoint3D& mrpt::math::TPoint3D::operator+= ( const TPoint3D &  p )

inline

Translation.

Definition at line 375 of file lightweight_geom_data.h.

References x, y, and z.

TPoint3D mrpt::math::TPoint3D::operator- ( const TPoint3D &  p ) const

inline

Points substraction.

Definition at line 399 of file lightweight_geom_data.h.

References x, y, and z.

TPoint3D& mrpt::math::TPoint3D::operator-= ( const TPoint3D &  p )

inline

Difference between points.

Definition at line 384 of file lightweight_geom_data.h.

References x, y, and z.

TPoint3D mrpt::math::TPoint3D::operator/ ( double  d ) const

inline

Definition at line 407 of file lightweight_geom_data.h.

bool mrpt::math::TPoint3D::operator<

(

const TPoint3D &

p

)

const

double& mrpt::math::TPoint3D::operator[] ( size_t  i )

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 331 of file lightweight_geom_data.h.

const double& mrpt::math::TPoint3D::operator[] ( size_t  i ) const

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 337 of file lightweight_geom_data.h.

static size_t mrpt::math::TPoint3D::size ( )

inlinestatic

Definition at line 424 of file lightweight_geom_data.h.

double mrpt::math::TPoint3D::sqrDistanceTo ( const TPoint3D &  p ) const

inline

Point-to-point distance, squared.

Definition at line 349 of file lightweight_geom_data.h.

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

Member Data Documentation

double mrpt::math::TPoint3D::x

X coordinate.

Definition at line 293 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3DRotVec::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

double mrpt::math::TPoint3D::y

Y coordinate.

Definition at line 294 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3DRotVec::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

double mrpt::math::TPoint3D::z

Z coordinate.

Definition at line 295 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3DRotVec::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().