CPoint3D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CVectorFixed.h>
#include <mrpt/poses/CPoint.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::poses
{
/** A class used to store a 3D point.
 *
 *  For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint,
 * or refer
 *    to the <a href="http://www.mrpt.org/2D_3D_Geometry" >2D/3D Geometry
 * tutorial</a> in the wiki.
 *
 *  <div align=center>
 *   <img src="CPoint3D.gif">
 *  </div>
 *
 * \ingroup poses_grp
 * \sa CPoseOrPoint,CPose, CPoint
 */
class CPoint3D : public CPoint<CPoint3D, 3>,
                 public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CPoint3D, mrpt::poses)
    DEFINE_SCHEMA_SERIALIZABLE()
   public:
    /** [x,y,z] */
    mrpt::math::CVectorFixedDouble<3> m_coords;

   public:
    /** Constructor for initializing point coordinates. */
    inline CPoint3D(const double x = 0, const double y = 0, const double z = 0)
    {
        m_coords[0] = x;
        m_coords[1] = y;
        m_coords[2] = z;
    }

    /** Constructor from a XYZ 3-vector */
    explicit inline CPoint3D(const mrpt::math::CVectorFixedDouble<3>& xyz)
        : m_coords(xyz)
    {
    }

    /** Constructor from an CPoint2D object. */
    explicit CPoint3D(const CPoint2D& p);

    /** Constructor from an CPose3D object. */
    explicit CPoint3D(const CPose3D& p);

    /** Constructor from an CPose2D object. */
    explicit CPoint3D(const CPose2D& p);

    /** Constructor from lightweight object. */
    inline explicit CPoint3D(const mrpt::math::TPoint3D& p)
    {
        m_coords[0] = p.x;
        m_coords[1] = p.y;
        m_coords[2] = p.z;
    }
    mrpt::math::TPoint3D asTPoint() const;

    /** Returns this point as seen from "b", i.e. result = this - b */
    CPoint3D operator-(const CPose3D& b) const;

    /** Returns this point minus point "b", i.e. result = this - b */
    CPoint3D operator-(const CPoint3D& b) const;

    /** Returns this point plus point "b", i.e. result = this + b */
    CPoint3D operator+(const CPoint3D& b) const;

    /** Returns this point plus pose "b", i.e. result = this + b  */
    CPose3D operator+(const CPose3D& b) const;

    /** Return the pose or point as a 3x1 vector [x y z]' */
    void asVector(vector_t& v) const { v = m_coords; }

    enum
    {
        is_3D_val = 1
    };
    static constexpr bool is_3D() { return is_3D_val != 0; }
    enum
    {
        is_PDF_val = 0
    };
    static constexpr bool is_PDF() { return is_PDF_val != 0; }
    /** @name STL-like methods and typedefs
       @{   */
    /** The type of the elements */
    using value_type = double;
    using reference = double&;
    using const_reference = double;
    using size_type = std::size_t;
    using difference_type = std::ptrdiff_t;

    // size is constant
    enum
    {
        static_size = 3
    };
    static constexpr size_type size() { return static_size; }
    static constexpr bool empty() { return false; }
    static constexpr size_type max_size() { return static_size; }
    static inline void resize(const size_t n)
    {
        if (n != static_size)
            throw std::logic_error(format(
                "Try to change the size of CPoint3D to %u.",
                static_cast<unsigned>(n)));
    }
    /** @} */

    void setToNaN() override;

};  // End of class def.

/** Dumps a point as a string (x,y,z) */
std::ostream& operator<<(std::ostream& o, const CPoint3D& p);

}  // namespace mrpt::poses