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mrpt::poses::CPoint3D Class Reference

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 33 of file CPoint3D.h.

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:
Inheritance graph
[legend]

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 0 }
 

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::CArrayDouble< 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...
 
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...
 
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
void AddComponents (const OTHERCLASS &b)
 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< 3 > m_coords
 [x,y,z] 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 CPoint3DPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPoint3D
 
static mrpt::utils::TRuntimeClassId classCPoint3D
 
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 CPoint3DPtr Create ()
 

STL-like methods and typedefs

 
enum  { static_size = 3 }
 
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: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $. 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...
 

Member Typedef Documentation

◆ const_reference

Definition at line 83 of file CPoint3D.h.

◆ difference_type

Definition at line 85 of file CPoint3D.h.

◆ reference

Definition at line 82 of file CPoint3D.h.

◆ size_type

typedef std::size_t mrpt::poses::CPoint3D::size_type

Definition at line 84 of file CPoint3D.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 36 of file CPoint3D.h.

◆ value_type

The type of the elements.

Definition at line 81 of file CPoint3D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 73 of file CPoint3D.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 76 of file CPoint3D.h.

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 89 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 43 of file CPoint3D.h.

◆ CPoint3D() [2/6]

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

Constructor from a XYZ 3-vector.

Definition at line 46 of file CPoint3D.h.

◆ CPoint3D() [3/6]

mrpt::poses::CPoint3D::CPoint3D ( const CPoint2D p)

Constructor from an CPoint2D object.

◆ CPoint3D() [4/6]

mrpt::poses::CPoint3D::CPoint3D ( const CPose3D p)
inlineexplicit

Constructor from an CPose3D object.

Definition at line 52 of file CPoint3D.h.

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

◆ CPoint3D() [5/6]

mrpt::poses::CPoint3D::CPoint3D ( const CPose2D p)
explicit

Constructor from an CPose2D object.

◆ CPoint3D() [6/6]

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

Constructor from lightweight object.

Definition at line 58 of file CPoint3D.h.

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

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint3D::_GetBaseClass ( )
staticprotected

◆ AddComponents()

void mrpt::poses::CPoint< CPoint3D >::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 35 of file CPoint.h.

References static_size.

◆ asString() [1/2]

void mrpt::poses::CPoint< CPoint3D >::asString ( std::string &  s) const
inlineinherited

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

See also
fromString

Definition at line 74 of file CPoint.h.

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

◆ asString() [2/2]

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

Definition at line 80 of file CPoint.h.

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

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ Create()

static CPoint3DPtr mrpt::poses::CPoint3D::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPoint3D::CreateObject ( )
static

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::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< CPoint3D >::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.

References mrpt::utils::square().

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::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< CPoint3D >::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.

References mrpt::utils::square().

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPoint3D >::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< CPoint3D >::distanceTo ( const mrpt::math::TPoint3D b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

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

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPoint3D::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::CPoint3D::empty ( )
inlinestatic

Definition at line 91 of file CPoint3D.h.

◆ fromString()

void mrpt::poses::CPoint< CPoint3D >::fromString ( const std::string &  s)
inlineinherited

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

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 86 of file CPoint.h.

References ASSERT_EQUAL_, mrpt::mrpt::math::size(), static_size, and THROW_EXCEPTION.

◆ getAsVector() [1/2]

void mrpt::poses::CPoint< CPoint3D >::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.

References mrpt::mrpt::dynamicsize_vector< T >::resize(), and static_size.

◆ getAsVector() [2/2]

vector_double mrpt::poses::CPoint< CPoint3D >::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.

References mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector().

◆ getAsVectorVal()

vector_double mrpt::poses::CPoseOrPoint< CPoint3D >::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< CPoint3D >::getHomogeneousMatrix ( CMatrixDouble44 &  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 62 of file CPoint.h.

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

◆ getHomogeneousMatrixVal()

CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint3D >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See also
getInverseHomogeneousMatrix

Definition at line 190 of file CPoseOrPoint.h.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 out_HM) const
inlineinherited

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

See also
getHomogeneousMatrix

Definition at line 200 of file CPoseOrPoint.h.

References mrpt::math::homogeneousMatrixInverse().

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPoint3D >::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.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPoint3D >::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::CPoint3D::is_3D ( )
inlinestatic

Definition at line 74 of file CPoint3D.h.

◆ is_PDF()

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

Definition at line 77 of file CPoint3D.h.

◆ max_size()

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

Definition at line 92 of file CPoint3D.h.

References static_size.

◆ norm()

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

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

Definition at line 174 of file CPoseOrPoint.h.

References mrpt::utils::square().

◆ operator*=()

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

Scalar multiplication.

Definition at line 43 of file CPoint.h.

References static_size.

◆ operator+() [1/2]

CPoint3D mrpt::poses::CPoint3D::operator+ ( const CPoint3D b) const

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

result = this + b

◆ operator+() [2/2]

CPose3D mrpt::poses::CPoint3D::operator+ ( const CPose3D b) const

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

result = this + b

◆ operator-() [1/2]

CPoint3D mrpt::poses::CPoint3D::operator- ( const CPose3D b) const

Returns this point as seen from "b", i.e.

result = this - b

◆ operator-() [2/2]

CPoint3D mrpt::poses::CPoint3D::operator- ( const CPoint3D b) const

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

result = this - b

◆ operator[]() [1/2]

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

Definition at line 96 of file CPoint.h.

◆ operator[]() [2/2]

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

Definition at line 97 of file CPoint.h.

◆ readFromStream()

void mrpt::poses::CPoint3D::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ resize()

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

Definition at line 93 of file CPoint3D.h.

References mrpt::format(), and static_size.

◆ size()

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

Definition at line 90 of file CPoint3D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 133 of file CPoseOrPoint.h.

References mrpt::utils::square().

◆ writeToStream()

void mrpt::poses::CPoint3D::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPoint3D >::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< CPoint3D >::x ( )
inlineinherited

Definition at line 119 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 122 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 125 of file CPoseOrPoint.h.

◆ y() [1/3]

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

< Get Y coord.

Definition at line 117 of file CPoseOrPoint.h.

◆ y() [2/3]

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

Definition at line 120 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 123 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 126 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPoint3D

mrpt::utils::CLASSINIT mrpt::poses::CPoint3D::_init_CPoint3D
staticprotected

Definition at line 36 of file CPoint3D.h.

◆ classCObject

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

Definition at line 120 of file CObject.h.

◆ classCPoint3D

mrpt::utils::TRuntimeClassId mrpt::poses::CPoint3D::classCPoint3D
static

Definition at line 36 of file CPoint3D.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::CPoint3D::classinfo
static

Definition at line 36 of file CPoint3D.h.

◆ m_coords

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

[x,y,z]

Definition at line 39 of file CPoint3D.h.




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