mrpt::math::TPoint2D Struct Reference

Detailed Description

Lightweight 2D point.

Allows coordinate access using [] operator.

See also

mrpt::poses::CPoint2D

Definition at line 33 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 2 }

Public Member Functions
	TPoint2D (const TPose2D &p)
	Constructor from TPose2D, discarding phi. More...
	TPoint2D (const TPoint3D &p)
	Constructor from TPoint3D, discarding z. More...
	TPoint2D (const TPose3D &p)
	Constructor from TPose3D, discarding z and the angular coordinates. More...
template<class DERIVEDCLASS >
	TPoint2D (const mrpt::poses::CPoseOrPoint< DERIVEDCLASS > &p)
	Constructor from CPoseOrPoint, perhaps losing 3D information. More...
	TPoint2D (const mrpt::utils::TPixelCoordf &p)
	Implicit transformation constructor from TPixelCoordf. More...
	TPoint2D (const mrpt::poses::CPoint2D &p)
	Implicit constructor from mrpt::poses::CPoint2D. More...
	TPoint2D (double xx, double yy)
	Constructor from coordinates. More...
	TPoint2D ()
	Default fast constructor. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...
void	getAsVector (std::vector< double > &v) const
	Transformation into vector. More...
bool	operator< (const TPoint2D &p) const
TPoint2D &	operator+= (const TPoint2D &p)
TPoint2D &	operator-= (const TPoint2D &p)
TPoint2D &	operator*= (double d)
TPoint2D &	operator/= (double d)
TPoint2D	operator+ (const TPoint2D &p) const
TPoint2D	operator- (const TPoint2D &p) const
TPoint2D	operator* (double d) const
TPoint2D	operator/ (double d) const
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...
double	norm () const
	Point norm. More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
double	y
	X,Y coordinates. More...

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 34 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

TPoint2D() [1/8]

mrpt::math::TPoint2D::TPoint2D ( const TPose2D &  p )

explicit

Constructor from TPose2D, discarding phi.

See also

TPose2D

Definition at line 42 of file lightweight_geom_data.cpp.

TPoint2D() [2/8]

mrpt::math::TPoint2D::TPoint2D ( const TPoint3D &  p )

explicit

Constructor from TPoint3D, discarding z.

See also

TPoint3D

Definition at line 43 of file lightweight_geom_data.cpp.

TPoint2D() [3/8]

mrpt::math::TPoint2D::TPoint2D ( const TPose3D &  p )

explicit

Constructor from TPose3D, discarding z and the angular coordinates.

See also

TPose3D

Definition at line 44 of file lightweight_geom_data.cpp.

TPoint2D() [4/8]

template<class DERIVEDCLASS >

mrpt::math::TPoint2D::TPoint2D ( const mrpt::poses::CPoseOrPoint< DERIVEDCLASS > &  p )

inlineexplicit

Constructor from CPoseOrPoint, perhaps losing 3D information.

See also

CPoseOrPoint mrpt::poses::CPoint3D,CPose2D,CPose3D

Definition at line 55 of file lightweight_geom_data.h.

TPoint2D() [5/8]

mrpt::math::TPoint2D::TPoint2D ( const mrpt::utils::TPixelCoordf &  p )

inline

Implicit transformation constructor from TPixelCoordf.

Definition at line 58 of file lightweight_geom_data.h.

TPoint2D() [6/8]

mrpt::math::TPoint2D::TPoint2D

(

const mrpt::poses::CPoint2D &

p

)

Implicit constructor from mrpt::poses::CPoint2D.

Definition at line 45 of file lightweight_geom_data.cpp.

TPoint2D() [7/8]

mrpt::math::TPoint2D::TPoint2D ( double  xx, double  yy  )

inline

Constructor from coordinates.

Definition at line 65 of file lightweight_geom_data.h.

TPoint2D() [8/8]

mrpt::math::TPoint2D::TPoint2D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 69 of file lightweight_geom_data.h.

Member Function Documentation

asString() [1/2]

void mrpt::math::TPoint2D::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 130 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

asString() [2/2]

std::string mrpt::math::TPoint2D::asString ( ) const

inline

Definition at line 131 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

fromString()

void mrpt::math::TPoint2D::fromString

(

const std::string &

s

)

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 51 of file lightweight_geom_data.cpp.

References ASSERTMSG_, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

getAsVector()

void mrpt::math::TPoint2D::getAsVector ( std::vector< double > &  v ) const

inline

Transformation into vector.

Definition at line 77 of file lightweight_geom_data.h.

norm()

double mrpt::math::TPoint2D::norm ( ) const

inline

Point norm.

Definition at line 141 of file lightweight_geom_data.h.

References mrpt::math::square().

Referenced by mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicND::gapsEstimator(), mrpt::nav::CHolonomicND::searchBestGap(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

operator*()

TPoint2D mrpt::math::TPoint2D::operator* ( double  d ) const

inline

Definition at line 118 of file lightweight_geom_data.h.

operator*=()

TPoint2D& mrpt::math::TPoint2D::operator*= ( double  d )

inline

Definition at line 96 of file lightweight_geom_data.h.

operator+()

TPoint2D mrpt::math::TPoint2D::operator+ ( const TPoint2D &  p ) const

inline

Definition at line 108 of file lightweight_geom_data.h.

operator+=()

TPoint2D& mrpt::math::TPoint2D::operator+= ( const TPoint2D &  p )

inline

Definition at line 84 of file lightweight_geom_data.h.

References x.

operator-()

TPoint2D mrpt::math::TPoint2D::operator- ( const TPoint2D &  p ) const

inline

Definition at line 113 of file lightweight_geom_data.h.

operator-=()

TPoint2D& mrpt::math::TPoint2D::operator-= ( const TPoint2D &  p )

inline

Definition at line 90 of file lightweight_geom_data.h.

References x.

operator/()

TPoint2D mrpt::math::TPoint2D::operator/ ( double  d ) const

inline

Definition at line 123 of file lightweight_geom_data.h.

operator/=()

TPoint2D& mrpt::math::TPoint2D::operator/= ( double  d )

inline

Definition at line 102 of file lightweight_geom_data.h.

operator<()

bool mrpt::math::TPoint2D::operator<

(

const TPoint2D &

p

)

const

Definition at line 46 of file lightweight_geom_data.cpp.

operator[]() [1/2]

double& mrpt::math::TPoint2D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y

Definition at line 71 of file lightweight_geom_data.h.

operator[]() [2/2]

const double& mrpt::math::TPoint2D::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y

Definition at line 73 of file lightweight_geom_data.h.

size()

static size_t mrpt::math::TPoint2D::size ( )

inlinestatic

Definition at line 138 of file lightweight_geom_data.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), and mrpt::math::TPolygon2D::TPolygon2D().

Member Data Documentation

x

double mrpt::math::TPoint2D::x

Definition at line 35 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::nav::TWaypoint::isValid(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::poses::operator+(), operator+=(), operator-=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), mrpt::math::TLine2D::TLine2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

y

double mrpt::math::TPoint2D::y

X,Y coordinates.

Definition at line 35 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::math::TPolygon2D::contains(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::nav::TWaypoint::isValid(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::poses::operator+(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), mrpt::math::TLine2D::TLine2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().