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mrpt::poses::CPoint2D Class Reference

## Detailed Description

A class used to store a 2D point.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki. CPoseOrPoint,CPose, CPoint

Definition at line 35 of file CPoint2D.h.

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D: [legend]

## Public Types

enum  { is_3D_val = 0 }

enum  { is_PDF_val = 0 }

## Public Member Functions

CPoint2D (double x=0, double y=0)
Constructor for initializing point coordinates. More...

template<class OTHERCLASS >
CPoint2D (const CPoseOrPoint< OTHERCLASS > &b)
Constructor from x/y coordinates given from other pose. More...

CPoint2D (const mrpt::math::TPoint2D &o)
Implicit constructor from lightweight type. More...

CPoint2D (const mrpt::math::TPoint3D &o)
Explicit constructor from lightweight type (loses the z coord). More...

CPoint2D operator- (const CPose2D &b) const
The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a) More...

mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject * clone () const
Cloning interface for smart pointers. More...

Methods common to all 2D or 3D points
Scalar addition of all coordinates. More...

void operator*= (const double s)
Scalar multiplication. More...

void getAsVector (vector_double &v) const
Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. More...

vector_double getAsVector () const

void getHomogeneousMatrix (CMatrixDouble44 &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...

const double & operator[] (unsigned int i) const

double & operator[] (unsigned int i)

## Static Public Member Functions

static bool is_3D ()

static bool is_PDF ()

## Public Attributes

mrpt::math::CArrayDouble< 2 > m_coords
[x,y] More...

## Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable

## Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream. More...

void readFromStream (mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

## RTTI stuff

typedef CPoint2DPtr SmartPtr

static mrpt::utils::CLASSINIT _init_CPoint2D

static mrpt::utils::TRuntimeClassId classCPoint2D

static const mrpt::utils::TRuntimeClassIdclassinfo

static const mrpt::utils::TRuntimeClassId_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObjectduplicate () const
Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObjectCreateObject ()

static CPoint2DPtr Create ()

## STL-like methods and typedefs

enum  { static_size = 2 }

typedef double value_type
The type of the elements. More...

typedef double & reference

typedef const double & const_reference

typedef std::size_t size_type

typedef std::ptrdiff_t difference_type

static size_type size ()

static bool empty ()

static size_type max_size ()

static void resize (const size_t n)

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

double distanceTo (const CPoseOrPoint< OTHERCLASS > &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: . More...

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

CMatrixDouble44 getHomogeneousMatrixVal () const
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const

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

## ◆ const_reference

 typedef const double& mrpt::poses::CPoint2D::const_reference

Definition at line 75 of file CPoint2D.h.

## ◆ difference_type

 typedef std::ptrdiff_t mrpt::poses::CPoint2D::difference_type

Definition at line 77 of file CPoint2D.h.

## ◆ reference

 typedef double& mrpt::poses::CPoint2D::reference

Definition at line 74 of file CPoint2D.h.

## ◆ size_type

 typedef std::size_t mrpt::poses::CPoint2D::size_type

Definition at line 76 of file CPoint2D.h.

## ◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 38 of file CPoint2D.h.

## ◆ value_type

 typedef double mrpt::poses::CPoint2D::value_type

The type of the elements.

Definition at line 73 of file CPoint2D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
is_3D_val

Definition at line 66 of file CPoint2D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
is_PDF_val

Definition at line 68 of file CPoint2D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
static_size

Definition at line 80 of file CPoint2D.h.

## ◆ CPoint2D() [1/4]

 mrpt::poses::CPoint2D::CPoint2D ( double x = 0, double y = 0 )
inline

Constructor for initializing point coordinates.

Definition at line 45 of file CPoint2D.h.

## ◆ CPoint2D() [2/4]

template<class OTHERCLASS >
 mrpt::poses::CPoint2D::CPoint2D ( const CPoseOrPoint< OTHERCLASS > & b )
inlineexplicit

Constructor from x/y coordinates given from other pose.

Definition at line 49 of file CPoint2D.h.

## ◆ CPoint2D() [3/4]

 mrpt::poses::CPoint2D::CPoint2D ( const mrpt::math::TPoint2D & o )
inline

Implicit constructor from lightweight type.

Definition at line 56 of file CPoint2D.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

## ◆ CPoint2D() [4/4]

 mrpt::poses::CPoint2D::CPoint2D ( const mrpt::math::TPoint3D & o )
inlineexplicit

Explicit constructor from lightweight type (loses the z coord).

Definition at line 59 of file CPoint2D.h.

References mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

## ◆ _GetBaseClass()

 static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::_GetBaseClass ( )
staticprotected

 void mrpt::poses::CPoint< CPoint2D >::AddComponents ( const OTHERCLASS & b )
inlineinherited

This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose"

Definition at line 35 of file CPoint.h.

## ◆ asString() [1/2]

 void mrpt::poses::CPoint< CPoint2D >::asString ( std::string & s ) const
inlineinherited

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

fromString

Definition at line 74 of file CPoint.h.

## ◆ asString() [2/2]

 std::string mrpt::poses::CPoint< CPoint2D >::asString ( ) const
inlineinherited

Definition at line 80 of file CPoint.h.

## ◆ clone()

 CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

## ◆ Create()

 static CPoint2DPtr mrpt::poses::CPoint2D::Create ( )
static

## ◆ CreateObject()

 static mrpt::utils::CObject* mrpt::poses::CPoint2D::CreateObject ( )
static

## ◆ distance2DTo()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::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 165 of file CPoseOrPoint.h.

## ◆ distance2DToSquare()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::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 157 of file CPoseOrPoint.h.

## ◆ distance3DTo()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::distance3DTo ( double ax, double ay, double az ) const
inlineinherited

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

Definition at line 168 of file CPoseOrPoint.h.

## ◆ distance3DToSquare()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::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 160 of file CPoseOrPoint.h.

## ◆ distanceTo() [1/2]

 double mrpt::poses::CPoseOrPoint< CPoint2D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 151 of file CPoseOrPoint.h.

## ◆ distanceTo() [2/2]

 double mrpt::poses::CPoseOrPoint< CPoint2D >::distanceTo ( const mrpt::math::TPoint3D & b ) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

## ◆ duplicate()

 virtual mrpt::utils::CObject* mrpt::poses::CPoint2D::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

## ◆ duplicateGetSmartPtr()

 mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 132 of file CObject.h.

## ◆ empty()

 static bool mrpt::poses::CPoint2D::empty ( )
inlinestatic

Definition at line 82 of file CPoint2D.h.

## ◆ fromString()

 void mrpt::poses::CPoint< CPoint2D >::fromString ( const std::string & s )
inlineinherited

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )

asString
Exceptions
 std::exception On invalid format

Definition at line 86 of file CPoint.h.

## ◆ getAsVector() [1/2]

 void mrpt::poses::CPoint< CPoint2D >::getAsVector ( vector_double & v ) const
inlineinherited

Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].

Definition at line 50 of file CPoint.h.

## ◆ getAsVector() [2/2]

 vector_double mrpt::poses::CPoint< CPoint2D >::getAsVector ( ) 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 57 of file CPoint.h.

## ◆ getAsVectorVal()

 vector_double mrpt::poses::CPoseOrPoint< CPoint2D >::getAsVectorVal ( ) const
inlineinherited

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

Definition at line 180 of file CPoseOrPoint.h.

## ◆ getHomogeneousMatrix()

 void mrpt::poses::CPoint< CPoint2D >::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const
inlineinherited

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

getInverseHomogeneousMatrix

Definition at line 62 of file CPoint.h.

## ◆ getHomogeneousMatrixVal()

 CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint2D >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

getInverseHomogeneousMatrix

Definition at line 190 of file CPoseOrPoint.h.

## ◆ getInverseHomogeneousMatrix() [1/2]

 void mrpt::poses::CPoseOrPoint< CPoint2D >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 & out_HM ) const
inlineinherited

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

getHomogeneousMatrix

Definition at line 200 of file CPoseOrPoint.h.

## ◆ getInverseHomogeneousMatrix() [2/2]

 mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint2D >::getInverseHomogeneousMatrix ( ) 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 207 of file CPoseOrPoint.h.

## ◆ GetRuntimeClass()

 virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

## ◆ is3DPoseOrPoint()

 static bool mrpt::poses::CPoseOrPoint< CPoint2D >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 130 of file CPoseOrPoint.h.

## ◆ is_3D()

 static bool mrpt::poses::CPoint2D::is_3D ( )
inlinestatic

Definition at line 67 of file CPoint2D.h.

## ◆ is_PDF()

 static bool mrpt::poses::CPoint2D::is_PDF ( )
inlinestatic

Definition at line 69 of file CPoint2D.h.

## ◆ max_size()

 static size_type mrpt::poses::CPoint2D::max_size ( )
inlinestatic

Definition at line 83 of file CPoint2D.h.

References static_size.

## ◆ norm()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::norm ( ) const
inlineinherited

Returns the euclidean norm of vector: .

Definition at line 174 of file CPoseOrPoint.h.

## ◆ operator*=()

 void mrpt::poses::CPoint< CPoint2D >::operator*= ( const double s )
inlineinherited

Scalar multiplication.

Definition at line 43 of file CPoint.h.

## ◆ operator-()

 CPoint2D mrpt::poses::CPoint2D::operator- ( const CPose2D & b ) const

The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a)

## ◆ operator[]() [1/2]

 const double& mrpt::poses::CPoint< CPoint2D >::operator[] ( unsigned int i ) const
inlineinherited

Definition at line 96 of file CPoint.h.

## ◆ operator[]() [2/2]

 double& mrpt::poses::CPoint< CPoint2D >::operator[] ( unsigned int i )
inlineinherited

Definition at line 97 of file CPoint.h.

 void mrpt::poses::CPoint2D::readFromStream ( mrpt::utils::CStream & in, int version )
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
 in The input binary stream where the object data must read from. version The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
 std::exception On any error, see CStream::ReadBuffer
CStream

Implements mrpt::utils::CSerializable.

## ◆ resize()

 static void mrpt::poses::CPoint2D::resize ( const size_t n )
inlinestatic

Definition at line 84 of file CPoint2D.h.

References mrpt::format(), and static_size.

## ◆ size()

 static size_type mrpt::poses::CPoint2D::size ( )
inlinestatic

Definition at line 81 of file CPoint2D.h.

References static_size.

## ◆ sqrDistanceTo()

 double mrpt::poses::CPoseOrPoint< CPoint2D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 133 of file CPoseOrPoint.h.

## ◆ writeToStream()

 void mrpt::poses::CPoint2D::writeToStream ( mrpt::utils::CStream & out, int * getVersion ) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
 out The output binary stream where object must be dumped. getVersion If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
 std::exception On any error, see CStream::WriteBuffer
CStream

Implements mrpt::utils::CSerializable.

## ◆ x() [1/3]

 double mrpt::poses::CPoseOrPoint< CPoint2D >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 116 of file CPoseOrPoint.h.

## ◆ x() [2/3]

 double& mrpt::poses::CPoseOrPoint< CPoint2D >::x ( )
inlineinherited

Definition at line 119 of file CPoseOrPoint.h.

## ◆ x() [3/3]

 void mrpt::poses::CPoseOrPoint< CPoint2D >::x ( const double v )
inlineinherited
Parameters
 v Set X coord.

Definition at line 122 of file CPoseOrPoint.h.

## ◆ x_incr()

 void mrpt::poses::CPoseOrPoint< CPoint2D >::x_incr ( const double v )
inlineinherited
Parameters
 v X+=v

Definition at line 125 of file CPoseOrPoint.h.

## ◆ y() [1/3]

 double mrpt::poses::CPoseOrPoint< CPoint2D >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 117 of file CPoseOrPoint.h.

## ◆ y() [2/3]

 double& mrpt::poses::CPoseOrPoint< CPoint2D >::y ( )
inlineinherited

Definition at line 120 of file CPoseOrPoint.h.

## ◆ y() [3/3]

 void mrpt::poses::CPoseOrPoint< CPoint2D >::y ( const double v )
inlineinherited
Parameters
 v Set Y coord.

Definition at line 123 of file CPoseOrPoint.h.

## ◆ y_incr()

 void mrpt::poses::CPoseOrPoint< CPoint2D >::y_incr ( const double v )
inlineinherited
Parameters
 v Y+=v

Definition at line 126 of file CPoseOrPoint.h.

## ◆ _init_CPoint2D

 mrpt::utils::CLASSINIT mrpt::poses::CPoint2D::_init_CPoint2D
staticprotected

Definition at line 38 of file CPoint2D.h.

## ◆ classCObject

 const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 120 of file CObject.h.

## ◆ classCPoint2D

 mrpt::utils::TRuntimeClassId mrpt::poses::CPoint2D::classCPoint2D
static

Definition at line 38 of file CPoint2D.h.

## ◆ classCSerializable

 const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 35 of file CSerializable.h.

## ◆ classinfo

 const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::classinfo
static

Definition at line 38 of file CPoint2D.h.

## ◆ m_coords

 mrpt::math::CArrayDouble<2> mrpt::poses::CPoint2D::m_coords

[x,y]

Definition at line 41 of file CPoint2D.h.

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