Detailed Description

A class used to store a 2D 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

Definition at line 54 of file CPoint2D.h.

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:

[legend]

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 0 }

Public Member Functions
	CPoint2D (double x=0, double y=0)
	Constructor for initializing point coordinates.

template<class OTHERCLASS >
	CPoint2D (const CPoseOrPoint< OTHERCLASS > &b)
	Constructor from x/y coordinates given from other pose.

	CPoint2D (const mrpt::math::TPoint2D &o)
	Implicit constructor from lightweight type.

	CPoint2D (const mrpt::math::TPoint3D &o)
	Explicit constructor from lightweight type (loses the z coord).

CPoint2D	operator- (const CPose2D &b) const
	The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a)

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< 2 >	m_coords
	[x,y]

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
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.

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.

RTTI stuff
typedef CPoint2DPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CPoint2D

static mrpt::utils::TRuntimeClassId	classCPoint2D

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 CPoint2DPtr	Create ()

STL-like methods and typedefs
enum	{ static_size = 2 }

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)

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 Typedef Documentation

typedef const double& mrpt::poses::CPoint2D::const_reference

Definition at line 94 of file CPoint2D.h.

typedef std::ptrdiff_t mrpt::poses::CPoint2D::difference_type

Definition at line 96 of file CPoint2D.h.

typedef double& mrpt::poses::CPoint2D::reference

Definition at line 93 of file CPoint2D.h.

typedef std::size_t mrpt::poses::CPoint2D::size_type

Definition at line 95 of file CPoint2D.h.

typedef CPoint2DPtr mrpt::poses::CPoint2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CPoint2D.h.

typedef double mrpt::poses::CPoint2D::value_type

The type of the elements.

Definition at line 92 of file CPoint2D.h.

Member Enumeration Documentation

anonymous enum

Enumerator
is_PDF_val

Definition at line 87 of file CPoint2D.h.

anonymous enum

Enumerator
static_size

Definition at line 99 of file CPoint2D.h.

anonymous enum

Enumerator
is_3D_val

Definition at line 85 of file CPoint2D.h.

Constructor & Destructor Documentation

mrpt::poses::CPoint2D::CPoint2D	(	double	x = `0`,
		double	y = `0`
	)

inline

Constructor for initializing point coordinates.

Definition at line 64 of file CPoint2D.h.

template<class OTHERCLASS >

mrpt::poses::CPoint2D::CPoint2D ( const CPoseOrPoint< OTHERCLASS > & b )

inlineexplicit

Constructor from x/y coordinates given from other pose.

Definition at line 68 of file CPoint2D.h.

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

mrpt::poses::CPoint2D::CPoint2D ( const mrpt::math::TPoint2D & o )

inline

Implicit constructor from lightweight type.

Definition at line 75 of file CPoint2D.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

mrpt::poses::CPoint2D::CPoint2D ( const mrpt::math::TPoint3D & o )

inlineexplicit

Explicit constructor from lightweight type (loses the z coord).

Definition at line 78 of file CPoint2D.h.

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

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::_GetBaseClass ( )

staticprotected

void mrpt::poses::CPoint< CPoint2D >::AddComponents ( const OTHERCLASS & b )

inlineinherited

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< CPoint2D >::asString ( std::string & s ) const

inlineinherited

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< CPoint2D >::asString ( ) const

inlineinherited

Definition at line 99 of file CPoint.h.

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

static CPoint2DPtr mrpt::poses::CPoint2D::Create ( )

static

static mrpt::utils::CObject* mrpt::poses::CPoint2D::CreateObject ( )

static

double mrpt::poses::CPoseOrPoint< CPoint2D >::distance2DTo	(	double	ax,
		double	ay
	)		const

inlineinherited

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.

double mrpt::poses::CPoseOrPoint< CPoint2D >::distance2DToSquare	(	double	ax,
		double	ay
	)		const

inlineinherited

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.

double mrpt::poses::CPoseOrPoint< CPoint2D >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

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

Definition at line 187 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPoint2D >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

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

Definition at line 179 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPoint2D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 170 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPoint2D >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 190 of file CPoseOrPoint.h.

virtual mrpt::utils::CObject* mrpt::poses::CPoint2D::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

inlineinherited

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::CPoint2D::empty ( )

inlinestatic

Definition at line 101 of file CPoint2D.h.

void mrpt::poses::CPoint< CPoint2D >::fromString ( const std::string & s )

inlineinherited

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< CPoint2D >::getAsVector ( vector_double & v ) const

inlineinherited

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< CPoint2D >::getAsVector ( ) const

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 76 of file CPoint.h.

vector_double mrpt::poses::CPoseOrPoint< CPoint2D >::getAsVectorVal ( ) const

inlineinherited

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< CPoint2D >::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const

inlineinherited

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< CPoint2D >::getHomogeneousMatrixVal ( ) const

inlineinherited

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.

void mrpt::poses::CPoseOrPoint< CPoint2D >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 & out_HM ) const

inlineinherited

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

See Also: getHomogeneousMatrix

Definition at line 219 of file CPoseOrPoint.h.

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint2D >::getInverseHomogeneousMatrix ( ) const

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 226 of file CPoseOrPoint.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

static bool mrpt::poses::CPoseOrPoint< CPoint2D >::is3DPoseOrPoint ( )

inlinestaticinherited

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

Definition at line 149 of file CPoseOrPoint.h.

static bool mrpt::poses::CPoint2D::is_3D ( )

inlinestatic

Definition at line 86 of file CPoint2D.h.

static bool mrpt::poses::CPoint2D::is_PDF ( )

inlinestatic

Definition at line 88 of file CPoint2D.h.

static size_type mrpt::poses::CPoint2D::max_size ( )

inlinestatic

Definition at line 102 of file CPoint2D.h.

References static_size.

double mrpt::poses::CPoseOrPoint< CPoint2D >::norm ( ) const

inlineinherited

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

Definition at line 193 of file CPoseOrPoint.h.

void mrpt::poses::CPoint< CPoint2D >::operator*= ( const double s )

inlineinherited

Scalar multiplication.

Definition at line 62 of file CPoint.h.

CPoint2D mrpt::poses::CPoint2D::operator- ( const CPose2D & b ) const

The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a)

const double& mrpt::poses::CPoint< CPoint2D >::operator[] ( unsigned int i ) const

inlineinherited

Definition at line 115 of file CPoint.h.

double& mrpt::poses::CPoint< CPoint2D >::operator[] ( unsigned int i )

inlineinherited

Definition at line 116 of file CPoint.h.

void mrpt::poses::CPoint2D::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

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.

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

Implements mrpt::utils::CSerializable.

static void mrpt::poses::CPoint2D::resize ( const size_t n )

inlinestatic

Definition at line 103 of file CPoint2D.h.

References mrpt::format(), and static_size.

static size_type mrpt::poses::CPoint2D::size ( )

inlinestatic

Definition at line 100 of file CPoint2D.h.

References static_size.

double mrpt::poses::CPoseOrPoint< CPoint2D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 152 of file CPoseOrPoint.h.

void mrpt::poses::CPoint2D::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

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.

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

See Also: CStream

Implements mrpt::utils::CSerializable.

double mrpt::poses::CPoseOrPoint< CPoint2D >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

double& mrpt::poses::CPoseOrPoint< CPoint2D >::x ( )

inlineinherited

Definition at line 138 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPoint2D >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 141 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPoint2D >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 144 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPoint2D >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 136 of file CPoseOrPoint.h.

double& mrpt::poses::CPoseOrPoint< CPoint2D >::y ( )

inlineinherited

Definition at line 139 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPoint2D >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 142 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPoint2D >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 145 of file CPoseOrPoint.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPoint2D::_init_CPoint2D

staticprotected

Definition at line 57 of file CPoint2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPoint2D::classCPoint2D

static

Definition at line 57 of file CPoint2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::classinfo

static

Definition at line 57 of file CPoint2D.h.

mrpt::math::CArrayDouble<2> mrpt::poses::CPoint2D::m_coords

[x,y]

Definition at line 60 of file CPoint2D.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

STL-like methods and typedefs

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation