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 279 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. More...
	TPoint3D ()
	Default fast constructor. More...
	TPoint3D (const TPoint3Df &p)
	Explicit constructor from coordinates. More...
	TPoint3D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...
	TPoint3D (const TPose2D &p)
	Constructor from TPose2D, losing information. More...
	TPoint3D (const TPose3D &p)
	Constructor from TPose3D, losing information. More...
	TPoint3D (const mrpt::poses::CPoint3D &p)
	Implicit constructor from heavyweight type. More...
	TPoint3D (const mrpt::poses::CPose3D &p)
	Constructor from heavyweight 3D pose. More...
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[]. More...
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[]. More...
double	distanceTo (const TPoint3D &p) const
	Point-to-point distance. More...
double	sqrDistanceTo (const TPoint3D &p) const
	Point-to-point distance, squared. More...
double	norm () const
	Point norm. More...
TPoint3D &	operator*= (const double f)
	Point scale. More...
void	getAsVector (vector_double &v) const
	Transformation into vector. More...
TPoint3D &	operator+= (const TPoint3D &p)
	Translation. More...
TPoint3D &	operator-= (const TPoint3D &p)
	Difference between points. More...
TPoint3D	operator+ (const TPoint3D &p) const
	Points addition. More...
TPoint3D	operator- (const TPoint3D &p) const
	Points substraction. More...
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]" ) More...
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]" ) More...

Static Public Member Functions
static size_t	size ()

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

Constructor & Destructor Documentation

TPoint3D() [1/8]

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

inline

Constructor from coordinates.

Definition at line 285 of file lightweight_geom_data.h.

TPoint3D() [2/8]

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

inline

Default fast constructor.

Initializes to garbage.

Definition at line 287 of file lightweight_geom_data.h.

TPoint3D() [3/8]

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

inlineexplicit

Explicit constructor from coordinates.

Definition at line 289 of file lightweight_geom_data.h.

TPoint3D() [4/8]

mrpt::math::TPoint3D::TPoint3D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes the z.

See also

TPoint2D

TPoint3D() [5/8]

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

explicit

Constructor from TPose2D, losing information.

Zeroes the z.

See also

TPose2D

TPoint3D() [6/8]

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

explicit

Constructor from TPose3D, losing information.

See also

TPose3D

TPoint3D() [7/8]

mrpt::math::TPoint3D::TPoint3D

(

const mrpt::poses::CPoint3D &

p

)

Implicit constructor from heavyweight type.

See also

mrpt::poses::CPoint3D

TPoint3D() [8/8]

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

explicit

Constructor from heavyweight 3D pose.

See also

mrpt::poses::CPose3D.

Member Function Documentation

asString() [1/2]

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 403 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

asString() [2/2]

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

inline

Definition at line 404 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

distanceTo()

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

inline

Point-to-point distance.

Definition at line 330 of file lightweight_geom_data.h.

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

fromString()

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

getAsVector()

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

inline

Transformation into vector.

Definition at line 355 of file lightweight_geom_data.h.

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

norm()

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

inline

Point norm.

Definition at line 342 of file lightweight_geom_data.h.

References mrpt::utils::square().

operator*()

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

inline

Definition at line 390 of file lightweight_geom_data.h.

operator*=()

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

inline

Point scale.

Definition at line 348 of file lightweight_geom_data.h.

operator+()

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

inline

Points addition.

Definition at line 380 of file lightweight_geom_data.h.

References x, y, and z.

operator+=()

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

inline

Translation.

Definition at line 362 of file lightweight_geom_data.h.

References x, y, and z.

operator-()

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

inline

Points substraction.

Definition at line 386 of file lightweight_geom_data.h.

References x, y, and z.

operator-=()

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

inline

Difference between points.

Definition at line 371 of file lightweight_geom_data.h.

References x, y, and z.

operator/()

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

inline

Definition at line 394 of file lightweight_geom_data.h.

operator<()

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

(

const TPoint3D &

p

)

const

operator[]() [1/2]

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

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 318 of file lightweight_geom_data.h.

operator[]() [2/2]

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

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 324 of file lightweight_geom_data.h.

size()

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

inlinestatic

Definition at line 411 of file lightweight_geom_data.h.

sqrDistanceTo()

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

inline

Point-to-point distance, squared.

Definition at line 336 of file lightweight_geom_data.h.

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

Member Data Documentation

x

double mrpt::math::TPoint3D::x

X coordinate.

Definition at line 280 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::slam::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), 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::srba::observations::Cartesian_3D::obs_data_t::getAsArray(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::srba::sensor_model< landmarks::Euclidean3D, observations::RangeBearing_3D >::observe_error(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::srba::landmarks::Euclidean3D::relativeEuclideanLocation(), mrpt::srba::landmarks::Euclidean2D::relativeEuclideanLocation(), mrpt::srba::LandmarkRendererBase< landmark_rendering_as_point >::render(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

y

double mrpt::math::TPoint3D::y

Y coordinate.

Definition at line 281 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::slam::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), 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::srba::observations::Cartesian_3D::obs_data_t::getAsArray(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::srba::sensor_model< landmarks::Euclidean3D, observations::RangeBearing_3D >::observe_error(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::srba::landmarks::Euclidean3D::relativeEuclideanLocation(), mrpt::srba::landmarks::Euclidean2D::relativeEuclideanLocation(), mrpt::srba::LandmarkRendererBase< landmark_rendering_as_point >::render(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

z

double mrpt::math::TPoint3D::z

Z coordinate.

Definition at line 282 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::slam::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), 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::srba::observations::Cartesian_3D::obs_data_t::getAsArray(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::srba::sensor_model< landmarks::Euclidean3D, observations::RangeBearing_3D >::observe_error(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::srba::landmarks::Euclidean3D::relativeEuclideanLocation(), mrpt::srba::landmarks::Euclidean2D::relativeEuclideanLocation(), mrpt::srba::LandmarkRendererBase< landmark_rendering_as_point >::render(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().