Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPoint< DERIVEDCLASS >

A base class for representing a point in 2D or 3D.

For more information refer to the 2D/3D Geometry tutorial online.

Note: This class is based on the CRTP design pattern

See also: CPoseOrPoint, CPose

Definition at line 26 of file CPoint.h.

#include <mrpt/poses/CPoint.h>

Inheritance diagram for mrpt::poses::CPoint< DERIVEDCLASS >:

Public Member Functions
Methods common to all 2D or 3D points
template<class OTHERCLASS >
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
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

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)

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)

template<class OTHERCLASS >
double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point: More...

template<class OTHERCLASS >
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
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual void	setToNaN ()=0
	Set all data fields to quiet NaN. More...

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

Member Function Documentation

◆ AddComponents()

template<class DERIVEDCLASS >

template<class OTHERCLASS >

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

inline

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]

template<class DERIVEDCLASS >

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

inline

Definition at line 81 of file CPoint.h.

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

Referenced by mrpt::poses::CPoint< DERIVEDCLASS >::asString().

◆ asString() [2/2]

template<class DERIVEDCLASS >

void mrpt::poses::CPoint< DERIVEDCLASS >::asString ( std::string & s ) const

inline

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

◆ distance2DTo()

template<class DERIVEDCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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().

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

◆ distance2DToSquare()

template<class DERIVEDCLASS >

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

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo().

◆ distance3DTo()

template<class DERIVEDCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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().

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ distance3DToSquare()

template<class DERIVEDCLASS >

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

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo().

◆ distanceTo() [1/2]

template<class DERIVEDCLASS >

template<class OTHERCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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().

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), ransac_data_assoc_run(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood(), mrpt::tfest::se2_l2_robust(), mrpt::maps::CBeaconMap::simulateBeaconReadings(), and mrpt::maps::CLandmarksMap::simulateBeaconReadings().

◆ distanceTo() [2/2]

template<class DERIVEDCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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().

◆ fromString()

template<class DERIVEDCLASS >

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

inline

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::math::size(), static_size, and THROW_EXCEPTION.

◆ getAsVector() [1/2]

template<class DERIVEDCLASS >

mrpt::math::CVectorDouble mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector ( ) const

inline

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().

Referenced by mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector().

◆ getAsVector() [2/2]

template<class DERIVEDCLASS >

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

inline

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.

◆ getAsVectorVal()

template<class DERIVEDCLASS >

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), Pose3DTests::test_compose(), Pose3DQuatTests::test_compose(), Pose3DRotVecTests::test_compose(), Pose3DTests::test_composeFrom(), Pose3DTests::test_composePoint(), Pose3DQuatTests::test_composePoint(), Pose3DRotVecTests::test_conversions(), Pose3DTests::test_ExpLnEqual(), TEST_F(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DQuatTests::test_invComposePoint(), Pose3DTests::test_inverse(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ getHomogeneousMatrix()

template<class DERIVEDCLASS >

void mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

inline

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()

template<class DERIVEDCLASS >

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::obs::CObservationStereoImages::getDescriptionAsText(), Pose3DQuatTests::test_copy(), Pose3DQuatTests::test_fromYPRAndBack(), and Pose3DQuatTests::test_unaryInverse().

◆ getInverseHomogeneousMatrix() [1/2]

template<class DERIVEDCLASS >

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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::math::UNINITIALIZED_MATRIX.

◆ getInverseHomogeneousMatrix() [2/2]

template<class DERIVEDCLASS >

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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().

Referenced by mrpt::poses::CPose3DRotVec::inverseComposeFrom(), and Pose3DTests::test_inverse().

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS >

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

inlinestaticinherited

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

Definition at line 127 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().

◆ norm()

template<class DERIVEDCLASS >

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

Referenced by mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::TDist::updateDistances().

◆ operator*=()

template<class DERIVEDCLASS >

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

inline

Scalar multiplication.

Definition at line 44 of file CPoint.h.

References static_size.

◆ operator[]() [1/2]

template<class DERIVEDCLASS >

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

inline

Definition at line 98 of file CPoint.h.

◆ operator[]() [2/2]

template<class DERIVEDCLASS >

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

inline

Definition at line 97 of file CPoint.h.

◆ setToNaN()

template<class DERIVEDCLASS >

virtual void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::setToNaN ( )

pure virtualinherited

Set all data fields to quiet NaN.

Implemented in mrpt::poses::CPose3DRotVec, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3D, mrpt::poses::CPose2D, mrpt::poses::CPoint3D, and mrpt::poses::CPoint2D.

◆ sqrDistanceTo()

template<class DERIVEDCLASS >

template<class OTHERCLASS >

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

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().

◆ x() [1/3]

template<class DERIVEDCLASS >

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

inlineinherited

Definition at line 116 of file CPoseOrPoint.h.

◆ x() [2/3]

template<class DERIVEDCLASS >

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

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

◆ x() [3/3]

template<class DERIVEDCLASS >

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

inlineinherited

Parameters

v	Set X coord.

Definition at line 119 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS >

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

inlineinherited

Parameters

v X+=v

Definition at line 122 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ y() [1/3]

template<class DERIVEDCLASS >

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

inlineinherited

Definition at line 117 of file CPoseOrPoint.h.

◆ y() [2/3]

template<class DERIVEDCLASS >

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

inlineinherited

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

◆ y() [3/3]

template<class DERIVEDCLASS >

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

inlineinherited

Parameters

v	Set Y coord.

Definition at line 120 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS >

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

inlineinherited

Parameters

v Y+=v

Definition at line 123 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::maps::CBeaconMap::internal_insertObservation().

Detailed Description

template<class DERIVEDCLASS> class mrpt::poses::CPoint< DERIVEDCLASS >

Public Member Functions

Member Function Documentation

◆ AddComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ fromString()

◆ getAsVector() [1/2]

◆ getAsVector() [2/2]

◆ getAsVectorVal()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ is3DPoseOrPoint()

◆ norm()

◆ operator*=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ setToNaN()

◆ sqrDistanceTo()

◆ x() [1/3]

◆ x() [2/3]

◆ x() [3/3]

◆ x_incr()

◆ y() [1/3]

◆ y() [2/3]

◆ y() [3/3]

◆ y_incr()

template<class DERIVEDCLASS>
class mrpt::poses::CPoint< DERIVEDCLASS >