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

Definition at line 32 of file CPoint3D.h.

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 0 }

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CPoint3D (const double x=0, const double y=0, const double z=0)
	Constructor for initializing point coordinates. More...

	CPoint3D (const mrpt::math::CArrayDouble< 3 > &xyz)
	Constructor from a XYZ 3-vector. More...

	CPoint3D (const CPoint2D &p)
	Constructor from an CPoint2D object. More...

	CPoint3D (const CPose3D &p)
	Constructor from an CPose3D object. More...

	CPoint3D (const CPose2D &p)
	Constructor from an CPose2D object. More...

	CPoint3D (const mrpt::math::TPoint3D &p)
	Constructor from lightweight object. More...

CPoint3D	operator- (const CPose3D &b) const
	Returns this point as seen from "b", i.e. More...

CPoint3D	operator- (const CPoint3D &b) const
	Returns this point minus point "b", i.e. More...

CPoint3D	operator+ (const CPoint3D &b) const
	Returns this point plus point "b", i.e. More...

CPose3D	operator+ (const CPose3D &b) const
	Returns this point plus pose "b", i.e. More...

void	setToNaN () MRPT_OVERRIDE
	Set all data fields to quiet NaN. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

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). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Methods common to all 2D or 3D points
void	AddComponents (const OTHERCLASS &b)
	Scalar addition of all coordinates. More...

void	operator*= (const double s)
	Scalar multiplication. More...

void	getAsVector (mrpt::math::CVectorDouble &v) const
	Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. More...

mrpt::math::CVectorDouble	getAsVector () const

void	getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) 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]" ) More...

const double &	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static bool	is_3D ()

static bool	is_PDF ()

Public Attributes
mrpt::math::CArrayDouble< 3 >	m_coords
	[x,y,z] More...

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. More...

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. More...

RTTI stuff
typedef CPoint3DPtr	Ptr

typedef CPoint3DPtr	ConstPtr

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. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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. More...

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. More...

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: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the Euclidean distance to another pose/point: More...

double	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance to a 3D point: More...

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). More...

double	distance3DToSquare (double ax, double ay, double az) const
	Returns the squared 3D distance from this pose/point to a 3D point. More...

double	distance2DTo (double ax, double ay) const
	Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DTo (double ax, double ay, double az) const
	Returns the 3D distance from this pose/point to a 3D point. More...

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

mrpt::math::CVectorDouble	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

mrpt::math::CMatrixDouble44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const

static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise. More...

Member Typedef Documentation

◆ const_reference

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

Definition at line 82 of file CPoint3D.h.

◆ ConstPtr

typedef CPoint3DPtr mrpt::poses::CPoint3D::ConstPtr

Definition at line 35 of file CPoint3D.h.

◆ difference_type

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

Definition at line 84 of file CPoint3D.h.

◆ Ptr

typedef CPoint3DPtr mrpt::poses::CPoint3D::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file CPoint3D.h.

◆ reference

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

Definition at line 81 of file CPoint3D.h.

◆ size_type

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

Definition at line 83 of file CPoint3D.h.

◆ value_type

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

The type of the elements.

Definition at line 80 of file CPoint3D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 72 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 75 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 88 of file CPoint3D.h.

Constructor & Destructor Documentation

◆ CPoint3D() [1/6]

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 42 of file CPoint3D.h.

◆ CPoint3D() [2/6]

mrpt::poses::CPoint3D::CPoint3D ( const mrpt::math::CArrayDouble< 3 > & xyz )

inlineexplicit

Constructor from a XYZ 3-vector.

Definition at line 45 of file CPoint3D.h.

◆ CPoint3D() [3/6]

CPoint3D::CPoint3D ( const CPoint2D & p )

explicit

Constructor from an CPoint2D object.

Definition at line 27 of file CPoint3D.cpp.

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

◆ CPoint3D() [4/6]

CPoint3D::CPoint3D ( const CPose3D & p )

explicit

Constructor from an CPose3D object.

Definition at line 32 of file CPoint3D.cpp.

◆ CPoint3D() [5/6]

CPoint3D::CPoint3D ( const CPose2D & p )

explicit

Constructor from an CPose2D object.

Definition at line 29 of file CPoint3D.cpp.

◆ CPoint3D() [6/6]

mrpt::poses::CPoint3D::CPoint3D ( const mrpt::math::TPoint3D & p )

inlineexplicit

Constructor from lightweight object.

Definition at line 57 of file CPoint3D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint3D::_GetBaseClass ( )

staticprotected

◆ AddComponents()

void mrpt::poses::CPoint< CPoint3D >::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 36 of file CPoint.h.

References min, and static_size.

◆ asString() [1/2]

void mrpt::poses::CPoint< CPoint3D >::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 75 of file CPoint.h.

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

◆ asString() [2/2]

std::string mrpt::poses::CPoint< CPoint3D >::asString ( ) const

inlineinherited

Definition at line 81 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::asString().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

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

static

◆ CreateObject()

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

static

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::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 165 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare().

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D >::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 156 of file CPoseOrPoint.h.

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

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

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

Definition at line 168 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare().

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D >::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 159 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::math::square(), mrpt::mrpt::math::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo().

◆ duplicate()

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

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

static bool mrpt::poses::CPoint3D::empty ( )

inlinestatic

Definition at line 90 of file CPoint3D.h.

◆ fromString()

void mrpt::poses::CPoint< CPoint3D >::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 87 of file CPoint.h.

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

◆ getAsVector() [1/2]

void mrpt::poses::CPoint< CPoint3D >::getAsVector ( mrpt::math::CVectorDouble & v ) const

inlineinherited

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

Definition at line 51 of file CPoint.h.

References static_size.

◆ getAsVector() [2/2]

mrpt::math::CVectorDouble mrpt::poses::CPoint< CPoint3D >::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 58 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector().

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPoint3D >::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 181 of file CPoseOrPoint.h.

◆ getHomogeneousMatrix()

void mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix ( mrpt::math::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 63 of file CPoint.h.

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

◆ getHomogeneousMatrixVal()

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint3D >::getHomogeneousMatrixVal ( ) const

inlineinherited

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

See also: getInverseHomogeneousMatrix

Definition at line 191 of file CPoseOrPoint.h.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix ( mrpt::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 201 of file CPoseOrPoint.h.

References mrpt::math::homogeneousMatrixInverse().

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint3D >::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 208 of file CPoseOrPoint.h.

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

◆ GetRuntimeClass()

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.

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPoint3D >::is3DPoseOrPoint ( )

inlinestaticinherited

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

Definition at line 127 of file CPoseOrPoint.h.

◆ is_3D()

static bool mrpt::poses::CPoint3D::is_3D ( )

inlinestatic

Definition at line 73 of file CPoint3D.h.

◆ is_PDF()

static bool mrpt::poses::CPoint3D::is_PDF ( )

inlinestatic

Definition at line 76 of file CPoint3D.h.

◆ max_size()

static size_type mrpt::poses::CPoint3D::max_size ( )

inlinestatic

Definition at line 91 of file CPoint3D.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPoint3D >::norm ( ) const

inlineinherited

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

Definition at line 174 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::math::square(), mrpt::mrpt::math::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ operator delete() [1/3]

void mrpt::poses::CPoint3D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file CPoint3D.h.

◆ operator delete() [2/3]

void mrpt::poses::CPoint3D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 35 of file CPoint3D.h.

◆ operator delete() [3/3]

void mrpt::poses::CPoint3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 35 of file CPoint3D.h.

◆ operator delete[]()

void mrpt::poses::CPoint3D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file CPoint3D.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPoint3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 35 of file CPoint3D.h.

◆ operator new() [2/3]

void* mrpt::poses::CPoint3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 35 of file CPoint3D.h.

◆ operator new() [3/3]

void* mrpt::poses::CPoint3D::operator new ( size_t size )

inline

Definition at line 35 of file CPoint3D.h.

◆ operator new[]()

void* mrpt::poses::CPoint3D::operator new[] ( size_t size )

inline

Definition at line 35 of file CPoint3D.h.

◆ operator*=()

void mrpt::poses::CPoint< CPoint3D >::operator*= ( const double s )

inlineinherited

Scalar multiplication.

Definition at line 44 of file CPoint.h.

References static_size.

◆ operator+() [1/2]

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

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

result = this + b

Definition at line 104 of file CPoint3D.cpp.

◆ operator+() [2/2]

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

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

result = this + b

Definition at line 112 of file CPoint3D.cpp.

◆ operator-() [1/2]

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

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

result = this - b

Definition at line 78 of file CPoint3D.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [2/2]

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

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

result = this - b

Definition at line 95 of file CPoint3D.cpp.

◆ operator[]() [1/2]

const double& mrpt::poses::CPoint< CPoint3D >::operator[] ( unsigned int i ) const

inlineinherited

Definition at line 97 of file CPoint.h.

◆ operator[]() [2/2]

double& mrpt::poses::CPoint< CPoint3D >::operator[] ( unsigned int i )

inlineinherited

Definition at line 98 of file CPoint.h.

◆ readFromStream()

void CPoint3D::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.

Definition at line 54 of file CPoint3D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ resize()

static void mrpt::poses::CPoint3D::resize ( const size_t n )

inlinestatic

Definition at line 92 of file CPoint3D.h.

References mrpt::format(), and static_size.

◆ setToNaN()

void CPoint3D::setToNaN ( )

virtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPoint3D >.

Definition at line 117 of file CPoint3D.cpp.

◆ size()

static size_type mrpt::poses::CPoint3D::size ( )

inlinestatic

Definition at line 89 of file CPoint3D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 130 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::mrpt::math::square(), mrpt::math::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CPoint3D::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.

Definition at line 39 of file CPoint3D.cpp.

References version.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPoint3D >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPoint3D >::x ( )

inlineinherited

Definition at line 116 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 119 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 122 of file CPoseOrPoint.h.

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPoint3D >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPoint3D >::y ( )

inlineinherited

Definition at line 117 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 120 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 123 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPoint3D

mrpt::utils::CLASSINIT mrpt::poses::CPoint3D::_init_CPoint3D

staticprotected

Definition at line 35 of file CPoint3D.h.

◆ classCObject

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

staticinherited

Definition at line 128 of file CObject.h.

◆ classCPoint3D

mrpt::utils::TRuntimeClassId mrpt::poses::CPoint3D::classCPoint3D

static

Definition at line 35 of file CPoint3D.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint3D::classinfo

static

Definition at line 35 of file CPoint3D.h.

◆ m_coords

mrpt::math::CArrayDouble<3> mrpt::poses::CPoint3D::m_coords

[x,y,z]

Definition at line 38 of file CPoint3D.h.

Referenced by mrpt::poses::CPose3DRotVec::operator+().

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

◆ const_reference

◆ ConstPtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ value_type

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPoint3D() [1/6]

◆ CPoint3D() [2/6]

◆ CPoint3D() [3/6]

◆ CPoint3D() [4/6]

◆ CPoint3D() [5/6]

◆ CPoint3D() [6/6]

Member Function Documentation

◆ _GetBaseClass()

◆ AddComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ clone()

◆ Create()

◆ CreateObject()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ empty()

◆ fromString()

◆ getAsVector() [1/2]

◆ getAsVector() [2/2]

◆ getAsVectorVal()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ GetRuntimeClass()

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ max_size()

◆ norm()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ readFromStream()

◆ resize()

◆ setToNaN()

◆ size()

◆ sqrDistanceTo()

◆ writeToMatlab()