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mrpt::poses::CPoseOrPoint< DERIVEDCLASS > Class Template Reference

Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPoseOrPoint< DERIVEDCLASS >

The base template class for 2D & 3D points and poses.

This class use the Curiously Recurring Template Pattern (CRTP) to define a set of common methods to all the children classes without the cost of virtual methods. Since most important methods are inline, they will be expanded at compile time and optimized for every specific derived case.

For more information and examples, refer to the 2D/3D Geometry tutorial online.

Introduction to 2D and 3D representation classes


There are two class of spatial representation classes:

Homogeneous matrices: These are 4x4 matrices which can represent any translation or rotation in 2D & 3D. See the tutorial online for more details. *

Operators: There are operators defined for the pose compounding $ \oplus $ and inverse pose compounding $ \ominus $ of poses and points. For example, let "a" and "b" be 2D or 3D poses. Then "a+b" returns the resulting pose of "moving b" from "a"; and "b-a" returns the pose of "b" as it is seen "from a". They can be mixed points and poses, being 2D or 3D, in these operators, with the following results:

 Does "a+b" return a Pose or a Point?
+---------------------------------+
|  a \ b   |  Pose     |  Point   |
+----------+-----------+----------+
| Pose     |  Pose     |  Point   |
| Point    |  Pose     |  Point   |
+---------------------------------+
 Does "a-b" return a Pose or a Point?
+---------------------------------+
|  a \ b   |  Pose     |  Point   |
+----------+-----------+----------+
| Pose     |  Pose     |  Pose    |
| Point    |  Point    |  Point   |
+---------------------------------+
 Does "a+b" and "a-b" return a 2D or 3D object?
+-------------------------+
|  a \ b   |  2D   |  3D  |
+----------+--------------+
|  2D      |  2D   |  3D  |
|  3D      |  3D   |  3D  |
+-------------------------+
 
See also
CPose,CPoint

Definition at line 22 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::poses::CPoseOrPoint< DERIVEDCLASS >:
Inheritance graph
[legend]
double x () const
 Common members of all points & poses classes. More...
 
double y () const
 
double & x ()
 
double & y ()
 
void x (const double v)
 
void y (const double v)
 
void x_incr (const double v)
 
void y_incr (const double v)
 
template<class OTHERCLASS >
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
template<class OTHERCLASS >
double distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the Euclidean distance to another pose/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 distanceTo (const mrpt::math::TPoint3D &b) const
 Returns the euclidean distance 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 Function Documentation

◆ distance2DTo()

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo ( double  ax,
double  ay 
) const
inline

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()

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare ( double  ax,
double  ay 
) const
inline

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()

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inline

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

Definition at line 168 of file CPoseOrPoint.h.

◆ distance3DToSquare()

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare ( double  ax,
double  ay,
double  az 
) const
inline

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

Definition at line 160 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

template<class DERIVEDCLASS>
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inline

Returns the Euclidean distance to another pose/point:

Definition at line 151 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const mrpt::math::TPoint3D b) const
inline

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

◆ getAsVectorVal()

template<class DERIVEDCLASS>
vector_double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal ( ) const
inline

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.

◆ getHomogeneousMatrixVal()

template<class DERIVEDCLASS>
CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal ( ) const
inline

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.

◆ getInverseHomogeneousMatrix() [1/2]

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 out_HM) const
inline

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

See also
getHomogeneousMatrix

Definition at line 200 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPose< CPose3DQuat >::operator-().

◆ getInverseHomogeneousMatrix() [2/2]

template<class DERIVEDCLASS>
mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( ) const
inline

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.

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS>
static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint ( )
inlinestatic

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

Definition at line 130 of file CPoseOrPoint.h.

◆ norm()

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm ( ) const
inline

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

Definition at line 174 of file CPoseOrPoint.h.

◆ sqrDistanceTo()

template<class DERIVEDCLASS>
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inline

Returns the squared euclidean distance to another pose/point:

Definition at line 133 of file CPoseOrPoint.h.

◆ x() [1/3]

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) const
inline

◆ x() [2/3]

template<class DERIVEDCLASS>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( )
inline

Definition at line 119 of file CPoseOrPoint.h.

◆ x() [3/3]

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( const double  v)
inline
Parameters
vSet X coord.

Definition at line 122 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr ( const double  v)
inline
Parameters
vX+=v

Definition at line 125 of file CPoseOrPoint.h.

◆ y() [1/3]

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) const
inline

◆ y() [2/3]

template<class DERIVEDCLASS>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( )
inline

Definition at line 120 of file CPoseOrPoint.h.

◆ y() [3/3]

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( const double  v)
inline
Parameters
vSet Y coord.

Definition at line 123 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr ( const double  v)
inline
Parameters
vY+=v

Definition at line 126 of file CPoseOrPoint.h.




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