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 31 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 }

using	vector_t = mrpt::math::CVectorFixedDouble< DIM >
	Fixed-size vector of the correct size to hold all the coordinates of the point/pose. More...

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

	CPoint3D (const mrpt::math::CVectorFixedDouble< 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...

mrpt::math::TPoint3D	asTPoint () const

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	asVector (vector_t &v) const
	Return the pose or point as a 3x1 vector [x y z]'. More...

void	setToNaN () 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...

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	getHomogeneousMatrix (MATRIX44 &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...

double	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

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

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Serialize CSerializable Object to CSchemeArchiveBase derived object. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Serialize CSchemeArchiveBase derived object to CSerializable Object. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPoint3D >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPoint3D >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPoint3D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPoint3D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPoint3D"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

STL-like methods and typedefs

enum	{ static_size = 3 }

using	value_type = double
	The type of the elements. More...

using	reference = double &

using	const_reference = double

using	size_type = std::size_t

using	difference_type = std::ptrdiff_t

static constexpr size_type	size ()

static constexpr bool	empty ()

static constexpr size_type	max_size ()

static void	resize (const size_t n)

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

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, DIM2 > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &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...

vector_t	asVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

MATRIX44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

MATRIX44	getInverseHomogeneousMatrixVal () const

Member Typedef Documentation

◆ const_reference

using mrpt::poses::CPoint3D::const_reference = double

Definition at line 103 of file CPoint3D.h.

◆ ConstPtr

using mrpt::poses::CPoint3D::ConstPtr = std::shared_ptr<const mrpt::poses :: CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ ConstUniquePtr

using mrpt::poses::CPoint3D::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ difference_type

using mrpt::poses::CPoint3D::difference_type = std::ptrdiff_t

Definition at line 105 of file CPoint3D.h.

◆ Ptr

using mrpt::poses::CPoint3D::Ptr = std::shared_ptr< mrpt::poses :: CPoint3D >

A type for the associated smart pointer

Definition at line 34 of file CPoint3D.h.

◆ reference

using mrpt::poses::CPoint3D::reference = double&

Definition at line 102 of file CPoint3D.h.

◆ size_type

using mrpt::poses::CPoint3D::size_type = std::size_t

Definition at line 104 of file CPoint3D.h.

◆ UniquePtr

using mrpt::poses::CPoint3D::UniquePtr = std::unique_ptr< mrpt::poses :: CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ value_type

using mrpt::poses::CPoint3D::value_type = double

The type of the elements.

Definition at line 101 of file CPoint3D.h.

◆ vector_t

using mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::vector_t = mrpt::math::CVectorFixedDouble<DIM>

inherited

Fixed-size vector of the correct size to hold all the coordinates of the point/pose.

Definition at line 137 of file CPoseOrPoint.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 88 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 93 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 108 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.

References m_coords, mrpt::poses::CPoseOrPoint< CPoint3D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPoint3D, DIM >::y().

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◆ CPoint3D() [2/6]

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

inlineexplicit

Constructor from a XYZ 3-vector.

Definition at line 50 of file CPoint3D.h.

◆ CPoint3D() [3/6]

CPoint3D::CPoint3D ( const CPoint2D & p )

explicit

Constructor from an CPoint2D object.

Definition at line 29 of file CPoint3D.cpp.

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

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◆ CPoint3D() [4/6]

CPoint3D::CPoint3D ( const CPose3D & p )

explicit

Constructor from an CPose3D object.

Definition at line 44 of file CPoint3D.cpp.

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

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◆ CPoint3D() [5/6]

CPoint3D::CPoint3D ( const CPose2D & p )

explicit

Constructor from an CPose2D object.

Definition at line 36 of file CPoint3D.cpp.

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

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◆ CPoint3D() [6/6]

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

inlineexplicit

Constructor from lightweight object.

Definition at line 65 of file CPoint3D.h.

References m_coords, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ AddComponents()

void mrpt::poses::CPoint< CPoint3D , DIM >::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 41 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived().

◆ asString() [1/2]

void CPoint::asString ( std::string & s ) const

inherited

Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )

See also: fromString

Definition at line 32 of file CPoint.cpp.

References mrpt::format().

◆ asString() [2/2]

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

inlineinherited

Definition at line 77 of file CPoint.h.

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

◆ asTPoint()

mrpt::math::TPoint3D CPoint3D::asTPoint ( ) const

Definition at line 164 of file CPoint3D.cpp.

Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), and mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

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◆ asVector()

void mrpt::poses::CPoint3D::asVector ( vector_t & v ) const

inline

Return the pose or point as a 3x1 vector [x y z]'.

Definition at line 86 of file CPoint3D.h.

References m_coords.

◆ asVectorVal()

vector_t mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::asVectorVal ( ) const

inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 266 of file CPoseOrPoint.h.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoint3D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPoint3D::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPoint3D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPoint3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPoint3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::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 237 of file CPoseOrPoint.h.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::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 221 of file CPoseOrPoint.h.

◆ distance3DTo()

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

inlineinherited

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

Definition at line 243 of file CPoseOrPoint.h.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::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 228 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::distanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 214 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

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

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 249 of file CPoseOrPoint.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

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

inlinestatic

Definition at line 113 of file CPoint3D.h.

◆ fromString()

void CPoint::fromString ( const std::string & s )

inherited

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 20 of file CPoint.cpp.

References ASSERT_EQUAL_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION.

◆ getClassName()

static constexpr auto mrpt::poses::CPoint3D::getClassName ( )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ getHomogeneousMatrix()

void mrpt::poses::CPoint< CPoint3D , DIM >::getHomogeneousMatrix ( MATRIX44 & 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, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::getHomogeneousMatrixVal ( ) const

inlineinherited

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

See also: getInverseHomogeneousMatrix

Definition at line 278 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix()

void mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::getInverseHomogeneousMatrix ( MATRIX44 & out_HM ) const

inlineinherited

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

See also: getHomogeneousMatrix

Definition at line 290 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::getInverseHomogeneousMatrixVal ( ) 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 298 of file CPoseOrPoint.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPoint3D::GetRuntimeClassIdStatic ( )

static

◆ is3DPoseOrPoint()

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

inlinestaticinherited

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

Definition at line 180 of file CPoseOrPoint.h.

◆ is_3D()

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

inlinestatic

Definition at line 92 of file CPoint3D.h.

References is_3D_val.

◆ is_PDF()

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

inlinestatic

Definition at line 97 of file CPoint3D.h.

References is_PDF_val.

◆ max_size()

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

inlinestatic

Definition at line 114 of file CPoint3D.h.

References static_size.

◆ norm()

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

inlineinherited

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

Definition at line 256 of file CPoseOrPoint.h.

◆ operator*=()

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

inlineinherited

Scalar multiplication.

Definition at line 52 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived().

◆ operator+() [1/2]

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

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

result = this + b

Definition at line 141 of file CPoint3D.cpp.

References m_coords.

◆ operator+() [2/2]

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

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

result = this + b

Definition at line 151 of file CPoint3D.cpp.

References mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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◆ 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 110 of file CPoint3D.cpp.

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

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◆ operator-() [2/2]

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

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

result = this - b

Definition at line 131 of file CPoint3D.cpp.

References m_coords.

◆ operator[]() [1/2]

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

inlineinherited

Definition at line 91 of file CPoint.h.

◆ operator[]() [2/2]

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

inlineinherited

Definition at line 95 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived().

◆ resize()

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

inlinestatic

Definition at line 115 of file CPoint3D.h.

References mrpt::format(), and static_size.

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◆ serializeFrom() [1/2]

void CPoint3D::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Serialize CSchemeArchiveBase derived object to CSerializable Object.

Implements mrpt::serialization::CSerializable.

Definition at line 56 of file CPoint3D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPoint3D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 51 of file CPoint3D.cpp.

◆ serializeTo() [1/2]

void CPoint3D::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Serialize CSerializable Object to CSchemeArchiveBase derived object.

Implements mrpt::serialization::CSerializable.

Definition at line 52 of file CPoint3D.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToNaN()

void CPoint3D::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

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

Definition at line 158 of file CPoint3D.cpp.

◆ size()

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

inlinestatic

Definition at line 112 of file CPoint3D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 187 of file CPoseOrPoint.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ x() [1/3]

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

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 143 of file CPoseOrPoint.h.

Referenced by CPoint3D().

◆ x() [2/3]

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

inlineinherited

Definition at line 152 of file CPoseOrPoint.h.

◆ x() [3/3]

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

inlineinherited

Parameters

v	Set X coord.

Definition at line 161 of file CPoseOrPoint.h.

◆ x_incr()

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

inlineinherited

Parameters

v X+=v

Definition at line 170 of file CPoseOrPoint.h.

◆ y() [1/3]

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

inlineinherited

< Get Y coord.

Definition at line 147 of file CPoseOrPoint.h.

Referenced by CPoint3D().

◆ y() [2/3]

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

inlineinherited

Definition at line 156 of file CPoseOrPoint.h.

◆ y() [3/3]

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

inlineinherited

Parameters

v	Set Y coord.

Definition at line 165 of file CPoseOrPoint.h.

◆ y_incr()

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

inlineinherited

Parameters

v Y+=v

Definition at line 174 of file CPoseOrPoint.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPoint3D::className = "mrpt::poses" "::" "CPoint3D"

static

Definition at line 34 of file CPoint3D.h.

◆ m_coords

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

[x,y,z]

Definition at line 38 of file CPoint3D.h.

Referenced by asVector(), CPoint3D(), operator+(), and operator-().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoint3D::runtimeClassId

staticprotected

Definition at line 34 of file CPoint3D.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ UniquePtr

◆ value_type

◆ vector_t

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]

◆ asTPoint()

◆ asVector()

◆ asVectorVal()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ fromString()

◆ getClassName()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ max_size()

◆ norm()

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setToNaN()

◆ size()

◆ sqrDistanceTo()