MRPT  1.9.9
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mrpt::poses::CPoint< DERIVEDCLASS, DIM > Class Template Referenceabstract
[mrpt-poses] » 2D/3D points and poses

Detailed Description

template<class DERIVEDCLASS, std::size_t DIM>
class mrpt::poses::CPoint< DERIVEDCLASS, DIM >

A base class for representing a point in 2D or 3D.

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

Note
This class is based on the CRTP design pattern
See also
CPoseOrPoint, CPose

Definition at line 24 of file CPoint.h.

#include <mrpt/poses/CPoint.h>

Inheritance diagram for mrpt::poses::CPoint< DERIVEDCLASS, DIM >:

Public Types

using vector_t = mrpt::math::CVectorFixedDouble< DIM >
 Fixed-size vector of the correct size to hold all the coordinates of the point/pose. More...
 

Public Member Functions

Methods common to all 2D or 3D points
template<class OTHERCLASS >
void AddComponents (const OTHERCLASS &b)
 Scalar addition of all coordinates. More...
 
void operator*= (const double s)
 Scalar multiplication. More...
 
template<class MATRIX44 >
void getHomogeneousMatrix (MATRIX44 &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)
 

Private Member Functions

DERIVEDCLASS & derived ()
 
const DERIVEDCLASS & derived () const
 
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)
 
template<class OTHERCLASS , std::size_t DIM2>
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
template<class OTHERCLASS , std::size_t DIM2>
double distanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &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_t asVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
template<class MATRIX44 >
MATRIX44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
template<class MATRIX44 >
void getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...
 
template<class MATRIX44 >
MATRIX44 getInverseHomogeneousMatrixVal () const
 
virtual void setToNaN ()=0
 Set all data fields to quiet NaN. More...
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise. More...
 

Member Typedef Documentation

◆ vector_t

template<class DERIVEDCLASS, std::size_t DIM>
using mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::vector_t = mrpt::math::CVectorFixedDouble<DIM>
inherited

Fixed-size vector of the correct size to hold all the coordinates of the point/pose.

Definition at line 137 of file CPoseOrPoint.h.

Member Function Documentation

◆ AddComponents()

template<class DERIVEDCLASS, std::size_t DIM>
template<class OTHERCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS, DIM >::AddComponents ( const OTHERCLASS &  b)
inline

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 41 of file CPoint.h.

◆ asString() [1/2]

template<class DERIVEDCLASS , std::size_t DIM>
void CPoint::asString ( std::string &  s) const

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

See also
fromString

Definition at line 32 of file CPoint.cpp.

◆ asString() [2/2]

template<class DERIVEDCLASS, std::size_t DIM>
std::string mrpt::poses::CPoint< DERIVEDCLASS, DIM >::asString ( ) const
inline

Definition at line 77 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D, 3 >::asString().

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◆ asVectorVal()

template<class DERIVEDCLASS, std::size_t DIM>
vector_t mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal ( ) const
inlineinherited

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

Definition at line 266 of file CPoseOrPoint.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), Pose3DQuatTests::test_compose(), Pose3DTests::test_compose(), Pose3DTests::test_composeFrom(), Pose3DQuatTests::test_composePoint(), Pose3DTests::test_composePoint(), Pose3DTests::test_ExpLnEqual(), TEST_F(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DQuatTests::test_invComposePoint(), Pose3DTests::test_inverse(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

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◆ derived() [1/2]

template<class DERIVEDCLASS, std::size_t DIM>
DERIVEDCLASS& mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived ( )
inlineprivate

Definition at line 26 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D, 3 >::AddComponents(), mrpt::poses::CPoint< CPoint3D, 3 >::operator*=(), and mrpt::poses::CPoint< CPoint3D, 3 >::operator[]().

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◆ derived() [2/2]

template<class DERIVEDCLASS, std::size_t DIM>
const DERIVEDCLASS& mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived ( ) const
inlineprivate

Definition at line 27 of file CPoint.h.

◆ distance2DTo()

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::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 237 of file CPoseOrPoint.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

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◆ distance2DToSquare()

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::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 221 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance2DTo().

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◆ distance3DTo()

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inlineinherited

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

Definition at line 243 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distanceTo(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

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◆ distance3DToSquare()

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::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 228 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance3DTo().

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◆ distanceTo() [1/2]

template<class DERIVEDCLASS, std::size_t DIM>
template<class OTHERCLASS , std::size_t DIM2>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 214 of file CPoseOrPoint.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), ransac_data_assoc_run(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood(), mrpt::maps::CBeaconMap::simulateBeaconReadings(), and mrpt::maps::CLandmarksMap::simulateBeaconReadings().

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◆ distanceTo() [2/2]

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo ( const mrpt::math::TPoint3D &  b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 249 of file CPoseOrPoint.h.

◆ fromString()

template<class DERIVEDCLASS , std::size_t DIM>
void CPoint::fromString ( const std::string &  s)

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 20 of file CPoint.cpp.

◆ getHomogeneousMatrix()

template<class DERIVEDCLASS, std::size_t DIM>
template<class MATRIX44 >
void mrpt::poses::CPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrix ( MATRIX44 &  out_HM) const
inline

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.

◆ getHomogeneousMatrixVal()

template<class DERIVEDCLASS, std::size_t DIM>
template<class MATRIX44 >
MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See also
getInverseHomogeneousMatrix

Definition at line 278 of file CPoseOrPoint.h.

Referenced by mrpt::obs::CObservationPointCloud::getDescriptionAsText(), mrpt::obs::CObservation3DRangeScan::getDescriptionAsText(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), Pose3DTests::test_compose(), Pose3DQuatTests::test_copy(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DTests::test_inverse(), and Pose3DQuatTests::test_unaryInverse().

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◆ getInverseHomogeneousMatrix()

template<class DERIVEDCLASS, std::size_t DIM>
template<class MATRIX44 >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrix ( MATRIX44 &  out_HM) const
inlineinherited

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

See also
getHomogeneousMatrix

Definition at line 290 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::getInverseHomogeneousMatrixVal(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and Pose3DTests::test_inverse().

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◆ getInverseHomogeneousMatrixVal()

template<class DERIVEDCLASS, std::size_t DIM>
template<class MATRIX44 >
MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrixVal ( ) 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 298 of file CPoseOrPoint.h.

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS, std::size_t DIM>
static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 180 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::norm(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::sqrDistanceTo().

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◆ norm()

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm ( ) const
inlineinherited

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

Definition at line 256 of file CPoseOrPoint.h.

Referenced by mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ operator*=()

template<class DERIVEDCLASS, std::size_t DIM>
void mrpt::poses::CPoint< DERIVEDCLASS, DIM >::operator*= ( const double  s)
inline

Scalar multiplication.

Definition at line 52 of file CPoint.h.

◆ operator[]() [1/2]

template<class DERIVEDCLASS, std::size_t DIM>
const double& mrpt::poses::CPoint< DERIVEDCLASS, DIM >::operator[] ( unsigned int  i) const
inline

Definition at line 91 of file CPoint.h.

◆ operator[]() [2/2]

template<class DERIVEDCLASS, std::size_t DIM>
double& mrpt::poses::CPoint< DERIVEDCLASS, DIM >::operator[] ( unsigned int  i)
inline

Definition at line 95 of file CPoint.h.

◆ setToNaN()

template<class DERIVEDCLASS, std::size_t DIM>
virtual void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::setToNaN ( )
pure virtualinherited

Set all data fields to quiet NaN.

Implemented in mrpt::poses::CPose3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose2D, mrpt::poses::CPoint3D, and mrpt::poses::CPoint2D.

◆ sqrDistanceTo()

template<class DERIVEDCLASS, std::size_t DIM>
template<class OTHERCLASS , std::size_t DIM2>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 187 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distanceTo().

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◆ x() [1/3]

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 143 of file CPoseOrPoint.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CBeaconMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::CPose2D::CPose2D(), mrpt::hwdrivers::CIbeoLuxETH::dataCollection(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance3DToSquare(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdgeRelPoses(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPoint2DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPointPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::vision::frameJac(), Pose3DQuatTests::func_inv_compose_point(), Pose3DTests::func_inv_compose_point(), func_laserSimul_callback(), mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), mrpt::maps::CBeacon::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::maps::CBeacon::getAsMatlabDrawCommands(), mrpt::poses::CPoint< CPoint3D, 3 >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmark::getPose(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), jacob_dA_eps_D_p_deps(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceToPoint(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::norm(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnInverseObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPose2D::operator+(), mrpt::poses::operator+(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), ransac_data_assoc_run(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::poses::CPoint2DPDFGaussian::saveToTextFile(), mrpt::poses::CPointPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), se3_l2_internal(), mrpt::tfest::se3_l2_robust(), mrpt::poses::CPosePDFGaussianInf::serializeTo(), mrpt::opengl::CRenderizable::setLocation(), mrpt::maps::CLandmark::setPose(), mrpt::opengl::CRenderizable::setPose(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::sqrDistanceTo(), mrpt::vision::StereoObs2BRObs(), TEST(), Pose3DTests::test_composePoint(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::opengl::CSphere::traceRay(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().

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◆ x() [2/3]

template<class DERIVEDCLASS, std::size_t DIM>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x ( )
inlineinherited

Definition at line 152 of file CPoseOrPoint.h.

◆ x() [3/3]

template<class DERIVEDCLASS, std::size_t DIM>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 161 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS, std::size_t DIM>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 170 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CBeaconMap::internal_insertObservation(), and TEST().

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◆ y() [1/3]

template<class DERIVEDCLASS, std::size_t DIM>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 147 of file CPoseOrPoint.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CBeaconMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose2D::CPose2D(), mrpt::hwdrivers::CIbeoLuxETH::dataCollection(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distance3DToSquare(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdgeRelPoses(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPoint2DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPointPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::vision::frameJac(), Pose3DQuatTests::func_inv_compose_point(), Pose3DTests::func_inv_compose_point(), func_laserSimul_callback(), mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), mrpt::maps::CBeacon::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::maps::CBeacon::getAsMatlabDrawCommands(), mrpt::poses::CPoint< CPoint3D, 3 >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmark::getPose(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), jacob_dA_eps_D_p_deps(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceToPoint(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::norm(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnInverseObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPose2D::operator+(), mrpt::poses::operator+(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), ransac_data_assoc_run(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::poses::CPoint2DPDFGaussian::saveToTextFile(), mrpt::poses::CPointPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), se3_l2_internal(), mrpt::tfest::se3_l2_robust(), mrpt::poses::CPosePDFGaussianInf::serializeTo(), mrpt::opengl::CRenderizable::setLocation(), mrpt::maps::CLandmark::setPose(), mrpt::opengl::CRenderizable::setPose(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::sqrDistanceTo(), Pose3DTests::test_composePoint(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::opengl::CSphere::traceRay(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().

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◆ y() [2/3]

template<class DERIVEDCLASS, std::size_t DIM>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y ( )
inlineinherited

Definition at line 156 of file CPoseOrPoint.h.

◆ y() [3/3]

template<class DERIVEDCLASS, std::size_t DIM>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 165 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS, std::size_t DIM>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 174 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::maps::CBeaconMap::internal_insertObservation().

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