template struct mrpt::math::TPoint3D_

Overview

Base template for TPoint3D and TPoint3Df.

[1-byte memory packed, no padding]

#include <mrpt/math/TPoint3D.h>

template <typename T>
struct TPoint3D_:
    public mrpt::math::TPoseOrPoint,
    public mrpt::math::TPoint3D_data,
    public mrpt::math::internal::ProvideStaticResize
{
    // enums

    enum
    {
        static_size = 3,
    };

    // fields

    T x;

    // construction

    TPoint3D_();
    TPoint3D_(T xx, T yy, T zz);

    template <typename U>
    TPoint3D_(const TPoint3D_data<U>& p);

    template <typename U>
    TPoint3D_(const mrpt::math::CMatrixFixed<U, 3, 1>& m);

    TPoint3D_(const TPoint2D_<T>& p);
    TPoint3D_(const TPose2D& p);
    TPoint3D_(const TPose3D& p);

    // methods

    template <typename U>
    TPoint3D_<U> cast() const;

    T& operator [] (size_t i);
    constexpr T operator [] (size_t i) const;
    T distanceTo(const TPoint3D_<T>& p) const;
    T sqrDistanceTo(const TPoint3D_<T>& p) const;
    T sqrNorm() const;
    T norm() const;
    TPoint3D_<T> unitarize() const;
    TPoint3D_<T>& operator *= (const T f);

    template <typename Vector>
    void asVector(Vector& v) const;

    template <typename Vector>
    Vector asVector() const;

    TPoint3D_<T>& operator += (const TPoint3D_<T>& p);
    TPoint3D_<T>& operator -= (const TPoint3D_<T>& p);
    constexpr TPoint3D_<T> operator + (const TPoint3D_<T>& p) const;
    constexpr TPoint3D_<T> operator - (const TPoint3D_<T>& p) const;
    constexpr TPoint3D_<T> operator * (T d) const;
    constexpr TPoint3D_<T> operator/ (T d) const;
    bool operator < (const TPoint3D_<T>& p) const;
    void asString(std::string& s) const;
    std::string asString() const;
    void fromString(const std::string& s);

    template <typename Vector>
    static TPoint3D_<T> FromVector(const Vector& v);

    static TPoint3D_<T> FromString(const std::string& s);
};

Inherited Members

public:
    // fields

    T y;
    T z;

    // methods

    void resize(std::size_t n);

Fields

T x

X,Y,Z coordinates.

Construction

TPoint3D_()

Default constructor.

Initializes to zeros.

TPoint3D_(T xx, T yy, T zz)

Constructor from coordinates.

template <typename U>
TPoint3D_(const TPoint3D_data<U>& p)

Constructor from coordinates.

template <typename U>
TPoint3D_(const mrpt::math::CMatrixFixed<U, 3, 1>& m)

Constructor from column vector.

TPoint3D_(const TPoint2D_<T>& p)

Implicit constructor from TPoint2D.

Zeroes the z.

See also:

TPoint2D

TPoint3D_(const TPose2D& p)

Constructor from TPose2D, losing information.

Zeroes the z.

See also:

TPose2D

TPoint3D_(const TPose3D& p)

Constructor from TPose3D, losing information.

See also:

TPose3D

Methods

template <typename U>
TPoint3D_<U> cast() const

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

T& operator [] (size_t i)

Coordinate access using operator[].

Order: x,y,z

constexpr T operator [] (size_t i) const

Coordinate access using operator[].

Order: x,y,z

T distanceTo(const TPoint3D_<T>& p) const

Point-to-point distance.

T sqrDistanceTo(const TPoint3D_<T>& p) const

Point-to-point distance, squared.

T sqrNorm() const

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

T norm() const

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

TPoint3D_<T> unitarize() const

Returns this vector with unit length: v/norm(v)

TPoint3D_<T>& operator *= (const T f)

Scale point/vector.

template <typename Vector>
void asVector(Vector& v) const

Gets the pose as a vector of doubles.

Parameters:

Vector

It can be std::vector<double>, Eigen::VectorXd, etc.

template <typename Vector>
Vector asVector() const

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

TPoint3D_<T>& operator += (const TPoint3D_<T>& p)

Translation.

TPoint3D_<T>& operator -= (const TPoint3D_<T>& p)

Difference between points.

constexpr TPoint3D_<T> operator + (const TPoint3D_<T>& p) const

Points addition.

constexpr TPoint3D_<T> operator - (const TPoint3D_<T>& p) const

Points substraction.

void asString(std::string& s) const

Returns a human-readable textual representation of the object (eg: “[0.02 1.04 -0.8]” )

See also:

fromString

void fromString(const std::string& s)

Set the current object value from a string generated by ‘asString’ (eg: “[0.02 1.04 -0.8]” )

Parameters:

std::exception

On invalid format

See also:

asString

template <typename Vector>
static TPoint3D_<T> FromVector(const Vector& v)

Builds from the first 3 elements of a vector-like object: [x y z].

Parameters:

Vector

It can be std::vector<double>, Eigen::VectorXd, etc.