mrpt::math::TPoint2D_< T > Struct Template Reference

Detailed Description

template<typename T>
struct mrpt::math::TPoint2D_< T >

Base template for TPoint2D and TPoint2Df.

Forward declarations of all mrpt::math classes related to poses and points.

Definition at line 32 of file TPoint2D.h.

#include <mrpt/math/TPoint2D.h>

Inheritance diagram for mrpt::math::TPoint2D_< T >:

Public Types
enum	{ static_size = 2 }

Public Member Functions
constexpr	TPoint2D_ ()
	Default constructor. More...
constexpr	TPoint2D_ (T xx, T yy)
	Constructor from coordinates. More...
template<typename U >
	TPoint2D_ (const TPoint2D_data< U > &p)
	Explicit constructor from coordinates. More...
template<typename U >
	TPoint2D_ (const mrpt::math::CMatrixFixed< U, 2, 1 > &m)
	Constructor from column vector. More...
	TPoint2D_ (const TPose2D &p)
	Constructor from TPose2D, discarding phi. More...
	TPoint2D_ (const TPoint3D_< T > &p)
	Constructor from TPoint3D, discarding z. More...
	TPoint2D_ (const TPose3D &p)
	Constructor from TPose3D, discarding z and the angular coordinates. More...
template<typename U >
TPoint2D_< U >	cast () const
	Return a copy of this object using type U for coordinates. More...
T &	operator[] (size_t i)
	Coordinate access using operator[]. More...
constexpr T	operator[] (size_t i) const
	Coordinate access using operator[]. More...
template<typename U >
void	asVector (std::vector< U > &v) const
	Transformation into vector. More...
bool	operator< (const TPoint2D_ &p) const
TPoint2D_ &	operator+= (const TPoint2D_ &p)
TPoint2D_ &	operator-= (const TPoint2D_ &p)
TPoint2D_ &	operator*= (T d)
TPoint2D_ &	operator/= (T d)
constexpr TPoint2D_	operator+ (const TPoint2D_ &p) const
constexpr TPoint2D_	operator- (const TPoint2D_ &p) const
constexpr TPoint2D_	operator* (T d) const
constexpr TPoint2D_	operator/ (T 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...
T	sqrNorm () const
	Squared norm: |v|^2 = x^2+y^2. More...
T	norm () const
	Point norm: |v| = sqrt(x^2+y^2) More...
constexpr std::size_t	rows () const
constexpr std::size_t	cols () const
constexpr std::size_t	size () const
void	resize (std::size_t n)
	throws if attempted to resize to incorrect length More...

Static Public Member Functions
static TPoint2D_	FromString (const std::string &s)

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

Member Enumeration Documentation

anonymous enum

template<typename T>

anonymous enum

Enumerator
static_size

Definition at line 36 of file TPoint2D.h.

Constructor & Destructor Documentation

TPoint2D_() [1/7]

template<typename T>

constexpr mrpt::math::TPoint2D_< T >::TPoint2D_ ( )

inline

Default constructor.

Initializes to zeros

Definition at line 41 of file TPoint2D.h.

TPoint2D_() [2/7]

template<typename T>

constexpr mrpt::math::TPoint2D_< T >::TPoint2D_ ( T  xx, T  yy  )

inline

Constructor from coordinates.

Definition at line 43 of file TPoint2D.h.

TPoint2D_() [3/7]

template<typename T>

template<typename U >

mrpt::math::TPoint2D_< T >::TPoint2D_ ( const TPoint2D_data< U > &  p )

inline

Explicit constructor from coordinates.

Definition at line 47 of file TPoint2D.h.

TPoint2D_() [4/7]

template<typename T>

template<typename U >

mrpt::math::TPoint2D_< T >::TPoint2D_ ( const mrpt::math::CMatrixFixed< U, 2, 1 > &  m )

inline

Constructor from column vector.

Definition at line 55 of file TPoint2D.h.

TPoint2D_() [5/7]

template<typename T>

mrpt::math::TPoint2D_< T >::TPoint2D_ ( const TPose2D &  p )

explicit

Constructor from TPose2D, discarding phi.

See also

TPose2D

Definition at line 25 of file TPoint2D.cpp.

TPoint2D_() [6/7]

template<typename T>

mrpt::math::TPoint2D_< T >::TPoint2D_ ( const TPoint3D_< T > &  p )

explicit

Constructor from TPoint3D, discarding z.

See also

TPoint3D

Definition at line 31 of file TPoint2D.cpp.

TPoint2D_() [7/7]

template<typename T>

mrpt::math::TPoint2D_< T >::TPoint2D_ ( const TPose3D &  p )

explicit

Constructor from TPose3D, discarding z and the angular coordinates.

See also

TPose3D

Definition at line 36 of file TPoint2D.cpp.

Member Function Documentation

asString() [1/2]

template<typename T>

void mrpt::math::TPoint2D_< T >::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 175 of file TPoint2D.h.

asString() [2/2]

template<typename T>

std::string mrpt::math::TPoint2D_< T >::asString ( ) const

inline

Definition at line 180 of file TPoint2D.h.

Referenced by mrpt::math::TPoint2D_< double >::asString().

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asVector()

template<typename T>

template<typename U >

void mrpt::math::TPoint2D_< T >::asVector ( std::vector< U > &  v ) const

inline

Transformation into vector.

Definition at line 114 of file TPoint2D.h.

cast()

template<typename T>

template<typename U >

TPoint2D_<U> mrpt::math::TPoint2D_< T >::cast ( ) const

inline

Return a copy of this object using type U for coordinates.

Definition at line 78 of file TPoint2D.h.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D_< T > >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

fromString()

template<typename T >

void mrpt::math::TPoint2D_< T >::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 53 of file TPoint2D.cpp.

Referenced by mrpt::math::TPoint2D_< double >::FromString().

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FromString()

template<typename T>

static TPoint2D_ mrpt::math::TPoint2D_< T >::FromString ( const std::string &  s )

inlinestatic

Definition at line 194 of file TPoint2D.h.

norm()

template<typename T>

T mrpt::math::TPoint2D_< T >::norm ( ) const

inline

Point norm: |v| = sqrt(x^2+y^2)

Definition at line 205 of file TPoint2D.h.

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().

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operator*()

template<typename T>

constexpr TPoint2D_ mrpt::math::TPoint2D_< T >::operator* ( T  d ) const

inline

Definition at line 162 of file TPoint2D.h.

operator*=()

template<typename T>

TPoint2D_& mrpt::math::TPoint2D_< T >::operator*= ( T  d )

inline

Definition at line 137 of file TPoint2D.h.

operator+()

template<typename T>

constexpr TPoint2D_ mrpt::math::TPoint2D_< T >::operator+ ( const TPoint2D_< T > &  p ) const

inline

Definition at line 152 of file TPoint2D.h.

operator+=()

template<typename T>

TPoint2D_& mrpt::math::TPoint2D_< T >::operator+= ( const TPoint2D_< T > &  p )

inline

Definition at line 123 of file TPoint2D.h.

operator-()

template<typename T>

constexpr TPoint2D_ mrpt::math::TPoint2D_< T >::operator- ( const TPoint2D_< T > &  p ) const

inline

Definition at line 157 of file TPoint2D.h.

operator-=()

template<typename T>

TPoint2D_& mrpt::math::TPoint2D_< T >::operator-= ( const TPoint2D_< T > &  p )

inline

Definition at line 130 of file TPoint2D.h.

operator/()

template<typename T>

constexpr TPoint2D_ mrpt::math::TPoint2D_< T >::operator/ ( T  d ) const

inline

Definition at line 166 of file TPoint2D.h.

operator/=()

template<typename T>

TPoint2D_& mrpt::math::TPoint2D_< T >::operator/= ( T  d )

inline

Definition at line 144 of file TPoint2D.h.

operator<()

template<typename T >

bool mrpt::math::TPoint2D_< T >::operator<

(

const TPoint2D_< T > &

p

)

const

Definition at line 42 of file TPoint2D.cpp.

operator[]() [1/2]

template<typename T>

T& mrpt::math::TPoint2D_< T >::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y

Definition at line 84 of file TPoint2D.h.

operator[]() [2/2]

template<typename T>

constexpr T mrpt::math::TPoint2D_< T >::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y

Definition at line 97 of file TPoint2D.h.

resize()

void mrpt::math::internal::ProvideStaticResize< TPoint2D_< T > >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D_< T > >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D_< T > >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

sqrNorm()

template<typename T>

T mrpt::math::TPoint2D_< T >::sqrNorm ( ) const

inline

Squared norm: |v|^2 = x^2+y^2.

Definition at line 202 of file TPoint2D.h.

Referenced by mrpt::math::TPoint2D_< double >::norm().

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Member Data Documentation

x

template<typename T>

T mrpt::math::TPoint2D_data< T >::x

inherited

X,Y coordinates.

Definition at line 25 of file TPoint2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::math::TPoint2D_< double >::asString(), mrpt::math::TPoint2D_< double >::asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::math::TPoint2D_< double >::cast(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::maps::CPointsMap::clipOutOfRange(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::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::opengl::internal::Font::fill(), mrpt::vision::findMultipleChessboardsCorners(), mrpt::math::getAngleBisector(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TPolygon2D::getCenter(), mrpt::math::TSegment2D::getCenter(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::internal::glDrawText(), 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::math::intersect(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), 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::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::math::TPoint2D_< double >::operator*(), mrpt::math::TPoint2D_< double >::operator*=(), mrpt::math::TPoint2D_< double >::operator+(), mrpt::poses::operator+(), mrpt::math::TPoint2D_< double >::operator+=(), mrpt::math::TPoint2D_< double >::operator-(), mrpt::math::TPoint2D_< double >::operator-=(), mrpt::math::TPoint2D_< double >::operator/(), mrpt::math::TPoint2D_< double >::operator/=(), mrpt::math::TPoint2D_< double >::operator<(), mrpt::math::operator==(), mrpt::math::TPoint2D_< double >::operator[](), mrpt::opengl::internal::Font::outline(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint2D_< double >::sqrNorm(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::TPoint3D_(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

y

template<typename T>

T mrpt::math::TPoint2D_data< T >::y

inherited

Definition at line 25 of file TPoint2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::math::TPoint2D_< double >::asString(), mrpt::math::TPoint2D_< double >::asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::math::TPoint2D_< double >::cast(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::maps::CPointsMap::clipOutOfRange(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::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::opengl::internal::Font::fill(), mrpt::math::getAngleBisector(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TPolygon2D::getCenter(), mrpt::math::TSegment2D::getCenter(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::internal::glDrawText(), 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::math::intersect(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), 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::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::math::TPoint2D_< double >::operator*(), mrpt::math::TPoint2D_< double >::operator*=(), mrpt::math::TPoint2D_< double >::operator+(), mrpt::poses::operator+(), mrpt::math::TPoint2D_< double >::operator+=(), mrpt::math::TPoint2D_< double >::operator-(), mrpt::math::TPoint2D_< double >::operator-=(), mrpt::math::TPoint2D_< double >::operator/(), mrpt::math::TPoint2D_< double >::operator/=(), mrpt::math::TPoint2D_< double >::operator<(), mrpt::math::operator==(), mrpt::math::TPoint2D_< double >::operator[](), mrpt::opengl::internal::Font::outline(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint2D_< double >::sqrNorm(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::TPoint3D_(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().