MRPT  1.9.9
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mrpt::poses::CPoint3D Class Reference
[mrpt-poses] » 2D/3D points and poses

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 31 of file CPoint3D.h.

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:

Public Types

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

 CPoint3D (const double x=0, const double y=0, const double z=0)
 Constructor for initializing point coordinates. More...
 
 CPoint3D (const mrpt::math::CVectorFixedDouble< 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...
 
mrpt::math::TPoint3D asTPoint () const
 
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...
 
void asVector (vector_t &v) const
 Return the pose or point as a 3x1 vector [x y z]'. More...
 
void setToNaN () override
 Set all data fields to quiet NaN. More...
 
virtual mxArray * writeToMatlab () 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...
 
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 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)
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

mrpt::math::CVectorFixedDouble< 3 > m_coords
 [x,y,z] More...
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Serialize CSerializable Object to CSchemeArchiveBase derived object. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Serialize CSchemeArchiveBase derived object to CSerializable Object. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPoint3D >
 
using ConstPtr = std::shared_ptr< const CPoint3D >
 
using UniquePtr = std::unique_ptr< CPoint3D >
 
using ConstUniquePtr = std::unique_ptr< const CPoint3D >
 
static mrpt::rtti::CLASSINIT _init_CPoint3D
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPoint3D"
 
static const mrpt::rtti::TRuntimeClassId * _GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassId & GetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObject > CreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassId * GetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObject * clone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

STL-like methods and typedefs

 


enum  { static_size = 3
 }


 


using value_type = double


 The type of the elements.  More...


 


using reference = double &


 


using const_reference = const double &


 


using size_type = std::size_t


 


using difference_type = std::ptrdiff_t


 


static constexpr size_type size ()


 


static constexpr bool empty ()


 


static constexpr size_type max_size ()


 


static void resize (const size_t n)


 


static bool is3DPoseOrPoint ()


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


 


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, DIM2 > &b) const


 Returns the squared euclidean distance to another pose/point:  More...


 


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...


 


MATRIX44 getHomogeneousMatrixVal () const


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


 


void getInverseHomogeneousMatrix (MATRIX44 &out_HM) const


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


 


MATRIX44 getInverseHomogeneousMatrixVal () const


 




Member Typedef Documentation



◆ const_reference






      

        

          using mrpt::poses::CPoint3D::const_reference =  const double&
        

      





Definition at line 103 of file CPoint3D.h.








◆ ConstPtr






      

        

          using mrpt::poses::CPoint3D::ConstPtr =  std::shared_ptr<const CPoint3D >
        

      





Definition at line 34 of file CPoint3D.h.








◆ ConstUniquePtr






      

        

          using mrpt::poses::CPoint3D::ConstUniquePtr =  std::unique_ptr<const CPoint3D >
        

      





Definition at line 34 of file CPoint3D.h.








◆ difference_type






      

        

          using mrpt::poses::CPoint3D::difference_type =  std::ptrdiff_t
        

      





Definition at line 105 of file CPoint3D.h.








◆ Ptr






      

        

          using mrpt::poses::CPoint3D::Ptr =  std::shared_ptr< CPoint3D >
        

      




A type for the associated smart pointer 



Definition at line 34 of file CPoint3D.h.








◆ reference






      

        

          using mrpt::poses::CPoint3D::reference =  double&
        

      





Definition at line 102 of file CPoint3D.h.








◆ size_type






      

        

          using mrpt::poses::CPoint3D::size_type =  std::size_t
        

      





Definition at line 104 of file CPoint3D.h.








◆ UniquePtr






      

        

          using mrpt::poses::CPoint3D::UniquePtr =  std::unique_ptr< CPoint3D >
        

      





Definition at line 34 of file CPoint3D.h.








◆ value_type






      

        

          using mrpt::poses::CPoint3D::value_type =  double
        

      





The type of the elements. 



Definition at line 101 of file CPoint3D.h.








◆ vector_t








  

  
      

        

          using mrpt::poses::CPoseOrPoint< CPoint3D , 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 Enumeration Documentation



◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
is_3D_val 





Definition at line 88 of file CPoint3D.h.








◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
is_PDF_val 





Definition at line 93 of file CPoint3D.h.








◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
static_size 





Definition at line 108 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 42 of file CPoint3D.h.



References m_coords, mrpt::poses::CPoseOrPoint< CPoint3D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPoint3D, DIM >::y().



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◆ CPoint3D() [2/6]








  

  
      

        

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

      

  		
  
inlineexplicit  
  







Constructor from a XYZ 3-vector. 



Definition at line 50 of file CPoint3D.h.








◆ CPoint3D() [3/6]








  

  
      

        

          CPoint3D::CPoint3D 
          (
          const CPoint2D & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from an CPoint2D object. 



Definition at line 29 of file CPoint3D.cpp.



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



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◆ CPoint3D() [4/6]








  

  
      

        

          CPoint3D::CPoint3D 
          (
          const CPose3D & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from an CPose3D object. 



Definition at line 44 of file CPoint3D.cpp.








◆ CPoint3D() [5/6]








  

  
      

        

          CPoint3D::CPoint3D 
          (
          const CPose2D & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from an CPose2D object. 



Definition at line 36 of file CPoint3D.cpp.








◆ CPoint3D() [6/6]








  

  
      

        

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

      

  		
  
inlineexplicit  
  







Constructor from lightweight object. 



Definition at line 65 of file CPoint3D.h.



References m_coords.







Member Function Documentation



◆ _GetBaseClass()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint3D::_GetBaseClass 
          (
          )
          
        

      

  		
  
staticprotected  
  












◆ AddComponents()








  

  
      

        

          void mrpt::poses::CPoint< CPoint3D , DIM >::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 41 of file CPoint.h.



References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived(), and min.








◆ asString() [1/2]








  

  
      

        

          void CPoint::asString 
          (
          std::string & 
          s)
           const
        

      

  		
  
inherited  
  







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.



References mrpt::format().








◆ asString() [2/2]








  

  
      

        

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

      

  		
  
inlineinherited  
  







Definition at line 77 of file CPoint.h.



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








◆ asTPoint()






      

        

          mrpt::math::TPoint3D CPoint3D::asTPoint 
          (
          )
           const
        

      





Definition at line 164 of file CPoint3D.cpp.



Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), and mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().



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◆ asVector()








  

  
      

        

          void mrpt::poses::CPoint3D::asVector 
          (
          vector_t & 
          v)
           const
        

      

  		
  
inline  
  







Return the pose or point as a 3x1 vector [x y z]'. 



Definition at line 86 of file CPoint3D.h.



References m_coords.








◆ asVectorVal()








  

  
      

        

          vector_t mrpt::poses::CPoseOrPoint< CPoint3D , 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.








◆ clone()








  

  
      

        

          virtual mrpt::rtti::CObject* mrpt::poses::CPoint3D::clone 
          (
          )
           const
        

      

  		
  
overridevirtual  
  







Returns a deep copy (clone) of the object, indepently of its class. 



Implements mrpt::rtti::CObject.








◆ Create()








template<typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPoint3D::Create 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 34 of file CPoint3D.h.








◆ CreateAlloc()








template<typename Alloc , typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPoint3D::CreateAlloc 
          (
          const Alloc & 
          alloc, 
        

        

          
          
          Args &&... 
          args 
        

        

          
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 34 of file CPoint3D.h.








◆ CreateObject()








  

  
      

        

          static std::shared_ptr<CObject> mrpt::poses::CPoint3D::CreateObject 
          (
          )
          
        

      

  		
  
static  
  












◆ CreateUnique()








template<typename... Args> 



  

  
      

        

          static UniquePtr mrpt::poses::CPoint3D::CreateUnique 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 34 of file CPoint3D.h.








◆ distance2DTo()








  

  
      

        

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








◆ distance2DToSquare()








  

  
      

        

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








◆ distance3DTo()








  

  
      

        

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








◆ distance3DToSquare()








  

  
      

        

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








◆ distanceTo() [1/2]








  

  
      

        

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








◆ distanceTo() [2/2]








  

  
      

        

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








◆ duplicateGetSmartPtr()








  

  
      

        

          mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Makes a deep copy of the object and returns a smart pointer to it. 



Definition at line 200 of file CObject.h.



References mrpt::rtti::CObject::clone().



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



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◆ empty()








  

  
      

        

          static constexpr bool mrpt::poses::CPoint3D::empty 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 113 of file CPoint3D.h.








◆ fromString()








  

  
      

        

          void CPoint::fromString 
          (
          const std::string & 
          s)
          
        

      

  		
  
inherited  
  







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.



References ASSERT_EQUAL_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION.








◆ getClassName()








  

  
      

        

          static constexpr auto mrpt::poses::CPoint3D::getClassName 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 34 of file CPoint3D.h.








◆ getHomogeneousMatrix()








  

  
      

        

          void mrpt::poses::CPoint< CPoint3D , DIM >::getHomogeneousMatrix 
          (
          MATRIX44 & 
          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.



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








◆ getHomogeneousMatrixVal()








  

  
      

        

          MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D , 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.








◆ getInverseHomogeneousMatrix()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPoint3D , 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.








◆ getInverseHomogeneousMatrixVal()








  

  
      

        

          MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D , 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.








◆ GetRuntimeClass()








  

  
      

        

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

      

  		
  
overridevirtual  
  







Returns information about the class of an object in runtime. 



Reimplemented from mrpt::serialization::CSerializable.








◆ GetRuntimeClassIdStatic()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPoint3D::GetRuntimeClassIdStatic 
          (
          )
          
        

      

  		
  
static  
  












◆ is3DPoseOrPoint()








  

  
      

        

          static bool mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::is3DPoseOrPoint 
          (
          )
          
        

      

  		
  
inlinestaticinherited  
  







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



Definition at line 180 of file CPoseOrPoint.h.








◆ is_3D()








  

  
      

        

          static constexpr bool mrpt::poses::CPoint3D::is_3D 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 92 of file CPoint3D.h.



References is_3D_val.








◆ is_PDF()








  

  
      

        

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

      

  		
  
inlinestatic  
  







Definition at line 97 of file CPoint3D.h.



References is_PDF_val.








◆ max_size()








  

  
      

        

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

      

  		
  
inlinestatic  
  







Definition at line 114 of file CPoint3D.h.



References static_size.








◆ norm()








  

  
      

        

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








◆ operator*=()








  

  
      

        

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

      

  		
  
inlineinherited  
  







Scalar multiplication. 



Definition at line 52 of file CPoint.h.



References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived().








◆ operator+() [1/2]






      

        

          CPoint3D CPoint3D::operator+ 
          (
          const CPoint3D & 
          b)
           const
        

      





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


result = this + b 



Definition at line 141 of file CPoint3D.cpp.








◆ operator+() [2/2]






      

        

          CPose3D CPoint3D::operator+ 
          (
          const CPose3D & 
          b)
           const
        

      





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


result = this + b 



Definition at line 151 of file CPoint3D.cpp.








◆ operator-() [1/2]






      

        

          CPoint3D CPoint3D::operator- 
          (
          const CPose3D & 
          b)
           const
        

      





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


result = this - b 



Definition at line 110 of file CPoint3D.cpp.



References mrpt::math::UNINITIALIZED_MATRIX.








◆ operator-() [2/2]






      

        

          CPoint3D CPoint3D::operator- 
          (
          const CPoint3D & 
          b)
           const
        

      





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


result = this - b 



Definition at line 131 of file CPoint3D.cpp.








◆ operator[]() [1/2]








  

  
      

        

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

      

  		
  
inlineinherited  
  







Definition at line 91 of file CPoint.h.








◆ operator[]() [2/2]








  

  
      

        

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

      

  		
  
inlineinherited  
  







Definition at line 95 of file CPoint.h.



References mrpt::poses::CPoint< DERIVEDCLASS, DIM >::derived().








◆ resize()








  

  
      

        

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

      

  		
  
inlinestatic  
  







Definition at line 115 of file CPoint3D.h.



References mrpt::format(), and static_size.



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◆ serializeFrom() [1/2]








  

  
      

        

          void CPoint3D::serializeFrom 
          (
          mrpt::serialization::CArchive & 
          in, 
        

        

          
          
          uint8_t 
          serial_version 
        

        

          
          )
          
        

      

  		
  
overrideprotectedvirtual  
  







Serialize CSchemeArchiveBase derived object to CSerializable Object. 



Implements mrpt::serialization::CSerializable.



Definition at line 56 of file CPoint3D.cpp.



References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.








◆ serializeFrom() [2/2]








  

  
      

        

          virtual void mrpt::serialization::CSerializable::serializeFrom 
          (
          CSchemeArchiveBase & 
          in)
          
        

      

  		
  
inlineprotectedvirtualinherited  
  







Virtual method for reading (deserializing) from an abstract schema based archive. 



Definition at line 74 of file CSerializable.h.



References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.



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◆ serializeGetVersion()








  

  
      

        

          uint8_t CPoint3D::serializeGetVersion 
          (
          )
           const
        

      

  		
  
overrideprotectedvirtual  
  







Must return the current versioning number of the object. 


Start in zero for new classes, and increments each time there is a change in the stored format. 



Implements mrpt::serialization::CSerializable.



Definition at line 51 of file CPoint3D.cpp.








◆ serializeTo() [1/2]








  

  
      

        

          void CPoint3D::serializeTo 
          (
          mrpt::serialization::CArchive & 
          out)
           const
        

      

  		
  
overrideprotectedvirtual  
  







Serialize CSerializable Object to CSchemeArchiveBase derived object. 



Implements mrpt::serialization::CSerializable.



Definition at line 52 of file CPoint3D.cpp.








◆ serializeTo() [2/2]








  

  
      

        

          virtual void mrpt::serialization::CSerializable::serializeTo 
          (
          CSchemeArchiveBase & 
          out)
           const
        

      

  		
  
inlineprotectedvirtualinherited  
  







Virtual method for writing (serializing) to an abstract schema based archive. 



Definition at line 64 of file CSerializable.h.



References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.



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◆ setToNaN()








  

  
      

        

          void CPoint3D::setToNaN 
          (
          )
          
        

      

  		
  
overridevirtual  
  







Set all data fields to quiet NaN. 



Implements mrpt::poses::CPoseOrPoint< CPoint3D, DIM >.



Definition at line 158 of file CPoint3D.cpp.








◆ size()








  

  
      

        

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

      

  		
  
inlinestatic  
  







Definition at line 112 of file CPoint3D.h.



References static_size.








◆ sqrDistanceTo()








  

  
      

        

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








◆ writeToMatlab()








  

  
      

        

          virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB. 



Definition at line 90 of file CSerializable.h.








◆ x() [1/3]








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::x 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Common members of all points & poses classes. 


< Get X coord. 



Definition at line 143 of file CPoseOrPoint.h.



Referenced by CPoint3D().








◆ x() [2/3]








  

  
      

        

          double& mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::x 
          (
          )
          
        

      

  		
  
inlineinherited  
  







Definition at line 152 of file CPoseOrPoint.h.








◆ x() [3/3]








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::x 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vSet X coord. 

  

  





Definition at line 161 of file CPoseOrPoint.h.








◆ x_incr()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::x_incr 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vX+=v 

  

  





Definition at line 170 of file CPoseOrPoint.h.








◆ y() [1/3]








  

  
      

        

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

      

  		
  
inlineinherited  
  






< Get Y coord. 



Definition at line 147 of file CPoseOrPoint.h.



Referenced by CPoint3D().








◆ y() [2/3]








  

  
      

        

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

      

  		
  
inlineinherited  
  







Definition at line 156 of file CPoseOrPoint.h.








◆ y() [3/3]








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::y 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vSet Y coord. 

  

  





Definition at line 165 of file CPoseOrPoint.h.








◆ y_incr()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPoint3D , DIM >::y_incr 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vY+=v 

  

  





Definition at line 174 of file CPoseOrPoint.h.







Member Data Documentation



◆ _init_CPoint3D








  

  
      

        

          mrpt::rtti::CLASSINIT mrpt::poses::CPoint3D::_init_CPoint3D
        

      

  		
  
staticprotected  
  







Definition at line 34 of file CPoint3D.h.








◆ className








  

  
      

        

          constexpr const char* mrpt::poses::CPoint3D::className = "CPoint3D"
        

      

  		
  
static  
  







Definition at line 34 of file CPoint3D.h.








◆ m_coords






      

        

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

      





[x,y,z] 



Definition at line 38 of file CPoint3D.h.



Referenced by asVector(), and CPoint3D().








◆ runtimeClassId








  

  
      

        

          const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoint3D::runtimeClassId
        

      

  		
  
staticprotected  
  







Definition at line 34 of file CPoint3D.h.












 
 
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