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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.

See also
CPoseOrPoint,CPose, CPoint

Definition at line 36 of file CPoint2D.h.

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:
Inheritance graph

Public Types

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

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 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...
 
void setToNaN () MRPT_OVERRIDE
 Set all data fields to quiet NaN. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. 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...
 
CObjectclone () 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 (mrpt::math::CVectorDouble &v) const
 Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. More...
 
mrpt::math::CVectorDouble getAsVector () const
 
void getHomogeneousMatrix (mrpt::math::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 voidoperator new (size_t size, void *ptr)
 
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 Ptr
 
typedef CPoint2DPtr ConstPtr
 
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: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $. More...
 
mrpt::math::CVectorDouble getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
mrpt::math::CMatrixDouble44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getInverseHomogeneousMatrix (mrpt::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

Definition at line 76 of file CPoint2D.h.

typedef CPoint2DPtr mrpt::poses::CPoint2D::ConstPtr

Definition at line 39 of file CPoint2D.h.

Definition at line 78 of file CPoint2D.h.

typedef CPoint2DPtr mrpt::poses::CPoint2D::Ptr

A typedef for the associated smart pointer

Definition at line 39 of file CPoint2D.h.

Definition at line 75 of file CPoint2D.h.

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

Definition at line 77 of file CPoint2D.h.

The type of the elements.

Definition at line 74 of file CPoint2D.h.

Member Enumeration Documentation

anonymous enum
Enumerator
is_PDF_val 

Definition at line 69 of file CPoint2D.h.

anonymous enum
Enumerator
static_size 

Definition at line 81 of file CPoint2D.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 67 of file CPoint2D.h.

Constructor & Destructor Documentation

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

Constructor for initializing point coordinates.

Definition at line 46 of file CPoint2D.h.

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

Constructor from x/y coordinates given from other pose.

Definition at line 50 of file CPoint2D.h.

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

mrpt::poses::CPoint2D::CPoint2D ( const mrpt::math::TPoint2D o)
inlineexplicit

Implicit constructor from lightweight type.

Definition at line 57 of file CPoint2D.h.

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

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

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

Definition at line 60 of file CPoint2D.h.

References mrpt::poses::operator-(), mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2D::_GetBaseClass ( )
staticprotected
void mrpt::poses::CPoint< CPoint2D >::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 36 of file CPoint.h.

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]" )

See also
fromString

Definition at line 75 of file CPoint.h.

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

Definition at line 81 of file CPoint.h.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CPoint2DPtr mrpt::poses::CPoint2D::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPoint2D::CreateObject ( )
static
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.

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 156 of file CPoseOrPoint.h.

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.

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 159 of file CPoseOrPoint.h.

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

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

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.

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

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

Implements mrpt::utils::CObject.

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

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

Definition at line 83 of file CPoint2D.h.

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]" )

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 87 of file CPoint.h.

void mrpt::poses::CPoint< CPoint2D >::getAsVector ( mrpt::math::CVectorDouble v) const
inlineinherited

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

Definition at line 51 of file CPoint.h.

mrpt::math::CVectorDouble 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 58 of file CPoint.h.

mrpt::math::CVectorDouble 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 181 of file CPoseOrPoint.h.

void mrpt::poses::CPoint< CPoint2D >::getHomogeneousMatrix ( mrpt::math::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 63 of file CPoint.h.

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

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

See also
getInverseHomogeneousMatrix

Definition at line 191 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPoint2D >::getInverseHomogeneousMatrix ( mrpt::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 201 of file CPoseOrPoint.h.

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 208 of file CPoseOrPoint.h.

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.

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

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

Definition at line 127 of file CPoseOrPoint.h.

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

Definition at line 68 of file CPoint2D.h.

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

Definition at line 70 of file CPoint2D.h.

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

Definition at line 84 of file CPoint2D.h.

References static_size.

double mrpt::poses::CPoseOrPoint< CPoint2D >::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.

void mrpt::poses::CPoint2D::operator delete ( void ptr)
throw (
)
inline

Definition at line 39 of file CPoint2D.h.

void mrpt::poses::CPoint2D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 39 of file CPoint2D.h.

void mrpt::poses::CPoint2D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 39 of file CPoint2D.h.

void mrpt::poses::CPoint2D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 39 of file CPoint2D.h.

static void* mrpt::poses::CPoint2D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 39 of file CPoint2D.h.

void* mrpt::poses::CPoint2D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 39 of file CPoint2D.h.

void* mrpt::poses::CPoint2D::operator new ( size_t  size)
inline

Definition at line 39 of file CPoint2D.h.

void* mrpt::poses::CPoint2D::operator new[] ( size_t  size)
inline

Definition at line 39 of file CPoint2D.h.

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

Scalar multiplication.

Definition at line 44 of file CPoint.h.

CPoint2D 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)

Definition at line 67 of file CPoint2D.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

Definition at line 97 of file CPoint.h.

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

Definition at line 98 of file CPoint.h.

void 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
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.

Definition at line 42 of file CPoint2D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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

Definition at line 85 of file CPoint2D.h.

References DEFINE_SERIALIZABLE_POST, mrpt::format(), MRPT_OVERRIDE, and static_size.

void CPoint2D::setToNaN ( )
virtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPoint2D >.

Definition at line 77 of file CPoint2D.cpp.

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

Definition at line 82 of file CPoint2D.h.

References static_size.

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

Returns the squared euclidean distance to another pose/point:

Definition at line 130 of file CPoseOrPoint.h.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void 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
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.

Definition at line 27 of file CPoint2D.cpp.

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

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

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

Definition at line 116 of file CPoseOrPoint.h.

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

Definition at line 119 of file CPoseOrPoint.h.

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

Definition at line 122 of file CPoseOrPoint.h.

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

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

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

Definition at line 117 of file CPoseOrPoint.h.

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

Definition at line 120 of file CPoseOrPoint.h.

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

Definition at line 123 of file CPoseOrPoint.h.

Member Data Documentation

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

Definition at line 39 of file CPoint2D.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 39 of file CPoint2D.h.

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

Definition at line 42 of file CSerializable.h.

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

Definition at line 39 of file CPoint2D.h.

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

[x,y]

Definition at line 42 of file CPoint2D.h.

Referenced by mrpt::poses::CPose3DRotVec::operator+().




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