Detailed Description

Standard object for storing any 3D lightweight object.

Do not inherit from this class.

See also: TPoint3D,TSegment3D,TLine3D,TPlane,TPolygon3D

Definition at line 25 of file TObject3D.h.

#include <mrpt/math/TObject3D.h>

Classes
struct	tobject3d_data_t
	Union containing pointer to actual data. More...

Public Member Functions
	TObject3D (const TPoint3D &p)
	Constructor from point. More...

	TObject3D (const TSegment3D &s)
	Constructor from segment. More...

	TObject3D (const TLine3D &r)
	Constructor from line. More...

	TObject3D (const TPolygon3D &p)
	Constructor from polygon. More...

	TObject3D (const TPlane &p)
	Constructor from plane. More...

	TObject3D ()
	Empty constructor. More...

	~TObject3D ()
	Destructor. More...

bool	isPoint () const
	Checks whether content is a point. More...

bool	isSegment () const
	Checks whether content is a segment. More...

bool	isLine () const
	Checks whether content is a line. More...

bool	isPolygon () const
	Checks whether content is a polygon. More...

bool	isPlane () const
	Checks whether content is a plane. More...

unsigned char	getType () const
	Gets object type. More...

bool	getPoint (TPoint3D &p) const
	Gets the content as a point, returning false if the type is not adequate. More...

bool	getSegment (TSegment3D &s) const
	Gets the content as a segment, returning false if the type is not adequate. More...

bool	getLine (TLine3D &r) const
	Gets the content as a line, returning false if the type is not adequate. More...

bool	getPolygon (TPolygon3D &p) const
	Gets the content as a polygon, returning false if the type is not adequate. More...

bool	getPlane (TPlane &p) const
	Gets the content as a plane, returning false if the type is not adequate. More...

TObject3D &	operator= (const TObject3D &obj)
	Assigns another object, creating a new pointer if needed. More...

void	operator= (const TPoint3D &p)
	Assigns a point to this object. More...

void	operator= (const TSegment3D &s)
	Assigns a segment to this object. More...

void	operator= (const TLine3D &l)
	Assigns a line to this object. More...

void	operator= (const TPolygon3D &p)
	Assigns a polygon to this object. More...

void	operator= (const TPlane &p)
	Assigns a plane to this object. More...

void	generate2DObject (TObject2D &obj) const
	Projects into 2D space. More...

	TObject3D (const TObject3D &obj)
	Constructs from another object. More...

Static Public Member Functions
static void	getPoints (const std::vector< TObject3D > &objs, std::vector< TPoint3D > &pnts)
	Static method to retrieve every point included in a vector of objects. More...

static void	getSegments (const std::vector< TObject3D > &objs, std::vector< TSegment3D > &sgms)
	Static method to retrieve every segment included in a vector of objects. More...

static void	getLines (const std::vector< TObject3D > &objs, std::vector< TLine3D > &lins)
	Static method to retrieve every line included in a vector of objects. More...

static void	getPlanes (const std::vector< TObject3D > &objs, std::vector< TPlane > &plns)
	Static method to retrieve every plane included in a vector of objects. More...

static void	getPolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys)
	Static method to retrieve every polygon included in a vector of objects. More...

static void	getPoints (const std::vector< TObject3D > &objs, std::vector< TPoint3D > &pnts, std::vector< TObject3D > &remainder)
	Static method to retrieve every point included in a vector of objects, returning the remaining objects in another argument. More...

static void	getSegments (const std::vector< TObject3D > &objs, std::vector< TSegment3D > &sgms, std::vector< TObject3D > &remainder)
	Static method to retrieve every segment included in a vector of objects, returning the remaining objects in another argument. More...

static void	getLines (const std::vector< TObject3D > &objs, std::vector< TLine3D > &lins, std::vector< TObject3D > &remainder)
	Static method to retrieve every line included in a vector of objects, returning the remaining objects in another argument. More...

static void	getPlanes (const std::vector< TObject3D > &objs, std::vector< TPlane > &plns, std::vector< TObject3D > &remainder)
	Static method to retrieve every plane included in a vector of objects, returning the remaining objects in another argument. More...

static void	getPolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys, std::vector< TObject3D > &remainder)
	Static method to retrieve every polygon included in a vector of objects, returning the remaining objects in another argument. More...

Private Member Functions
void	destroy ()
	Destroys the object and releases the pointer, if any. More...

Private Attributes
unsigned char	type {GEOMETRIC_TYPE_UNDEFINED}
	Object type identifier. More...

struct mrpt::math::TObject3D::tobject3d_data_t	data

Constructor & Destructor Documentation

◆ TObject3D() [1/7]

mrpt::math::TObject3D::TObject3D ( const TPoint3D & p )

inline

Constructor from point.

Definition at line 58 of file TObject3D.h.

◆ TObject3D() [2/7]

mrpt::math::TObject3D::TObject3D ( const TSegment3D & s )

inline

Constructor from segment.

Definition at line 65 of file TObject3D.h.

◆ TObject3D() [3/7]

mrpt::math::TObject3D::TObject3D ( const TLine3D & r )

inline

Constructor from line.

Definition at line 72 of file TObject3D.h.

◆ TObject3D() [4/7]

mrpt::math::TObject3D::TObject3D ( const TPolygon3D & p )

inline

Constructor from polygon.

Definition at line 76 of file TObject3D.h.

◆ TObject3D() [5/7]

mrpt::math::TObject3D::TObject3D ( const TPlane & p )

inline

Constructor from plane.

Definition at line 83 of file TObject3D.h.

◆ TObject3D() [6/7]

mrpt::math::TObject3D::TObject3D ( )

inline

Empty constructor.

Definition at line 87 of file TObject3D.h.

◆ ~TObject3D()

mrpt::math::TObject3D::~TObject3D ( )

inline

Destructor.

Definition at line 91 of file TObject3D.h.

References destroy().

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◆ TObject3D() [7/7]

mrpt::math::TObject3D::TObject3D ( const TObject3D & obj )

inline

Constructs from another object.

Definition at line 270 of file TObject3D.h.

References operator=().

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Member Function Documentation

◆ destroy()

void mrpt::math::TObject3D::destroy ( )

inlineprivate

Destroys the object and releases the pointer, if any.

Definition at line 48 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_POLYGON, and mrpt::math::GEOMETRIC_TYPE_UNDEFINED.

Referenced by operator=(), and ~TObject3D().

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◆ generate2DObject()

void mrpt::math::TObject3D::generate2DObject ( TObject2D & obj ) const

Projects into 2D space.

Exceptions

std::logic_error if the 3D object loses its properties when projecting into 2D space (for example, it's a plane or a vertical line).

Definition at line 1467 of file TPoseOrPoint.cpp.

References mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_PLANE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, and mrpt::math::GEOMETRIC_TYPE_SEGMENT.

◆ getLine()

bool mrpt::math::TObject3D::getLine ( TLine3D & r ) const

inline

Gets the content as a line, returning false if the type is not adequate.

Definition at line 147 of file TObject3D.h.

References isLine().

Referenced by mrpt::math::intersect(), and mrpt::math::operator<<().

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◆ getLines() [1/2]

void mrpt::math::TObject3D::getLines	(	const std::vector< TObject3D > &	objs,
		std::vector< TLine3D > &	lins
	)

static

Static method to retrieve every line included in a vector of objects.

Definition at line 1503 of file TPoseOrPoint.cpp.

◆ getLines() [2/2]

void mrpt::math::TObject3D::getLines	(	const std::vector< TObject3D > &	objs,
		std::vector< TLine3D > &	lins,
		std::vector< TObject3D > &	remainder
	)

static

Static method to retrieve every line included in a vector of objects, returning the remaining objects in another argument.

Definition at line 1541 of file TPoseOrPoint.cpp.

◆ getPlane()

bool mrpt::math::TObject3D::getPlane ( TPlane & p ) const

inline

Gets the content as a plane, returning false if the type is not adequate.

Definition at line 175 of file TObject3D.h.

References isPlane().

Referenced by mrpt::math::intersect(), and mrpt::math::operator<<().

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◆ getPlanes() [1/2]

void mrpt::math::TObject3D::getPlanes	(	const std::vector< TObject3D > &	objs,
		std::vector< TPlane > &	plns
	)

static

Static method to retrieve every plane included in a vector of objects.

Definition at line 1509 of file TPoseOrPoint.cpp.

◆ getPlanes() [2/2]

void mrpt::math::TObject3D::getPlanes	(	const std::vector< TObject3D > &	objs,
		std::vector< TPlane > &	plns,
		std::vector< TObject3D > &	remainder
	)

static

Static method to retrieve every plane included in a vector of objects, returning the remaining objects in another argument.

Definition at line 1551 of file TPoseOrPoint.cpp.

◆ getPoint()

bool mrpt::math::TObject3D::getPoint ( TPoint3D & p ) const

inline

Gets the content as a point, returning false if the type is not adequate.

Definition at line 120 of file TObject3D.h.

References isPoint().

Referenced by mrpt::math::intersect(), intersect(), intersectAux(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), and mrpt::math::operator<<().

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◆ getPoints() [1/2]

void mrpt::math::TObject3D::getPoints	(	const std::vector< TObject3D > &	objs,
		std::vector< TPoint3D > &	pnts
	)

static

Static method to retrieve every point included in a vector of objects.

Definition at line 1491 of file TPoseOrPoint.cpp.

◆ getPoints() [2/2]

void mrpt::math::TObject3D::getPoints	(	const std::vector< TObject3D > &	objs,
		std::vector< TPoint3D > &	pnts,
		std::vector< TObject3D > &	remainder
	)

static

Static method to retrieve every point included in a vector of objects, returning the remaining objects in another argument.

Definition at line 1521 of file TPoseOrPoint.cpp.

◆ getPolygon()

bool mrpt::math::TObject3D::getPolygon ( TPolygon3D & p ) const

inline

Gets the content as a polygon, returning false if the type is not adequate.

Definition at line 161 of file TObject3D.h.

References isPolygon().

Referenced by mrpt::math::intersect(), and mrpt::math::operator<<().

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◆ getPolygons() [1/2]

void mrpt::math::TObject3D::getPolygons	(	const std::vector< TObject3D > &	objs,
		std::vector< TPolygon3D > &	polys
	)

static

Static method to retrieve every polygon included in a vector of objects.

Definition at line 1515 of file TPoseOrPoint.cpp.

Referenced by mrpt::math::assemblePolygons().

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◆ getPolygons() [2/2]

void mrpt::math::TObject3D::getPolygons	(	const std::vector< TObject3D > &	objs,
		std::vector< TPolygon3D > &	polys,
		std::vector< TObject3D > &	remainder
	)

static

Static method to retrieve every polygon included in a vector of objects, returning the remaining objects in another argument.

Definition at line 1561 of file TPoseOrPoint.cpp.

◆ getSegment()

bool mrpt::math::TObject3D::getSegment ( TSegment3D & s ) const

inline

Gets the content as a segment, returning false if the type is not adequate.

Definition at line 134 of file TObject3D.h.

References isSegment().

Referenced by intersect(), mrpt::math::intersect(), intersectAux(), and mrpt::math::operator<<().

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◆ getSegments() [1/2]

void mrpt::math::TObject3D::getSegments	(	const std::vector< TObject3D > &	objs,
		std::vector< TSegment3D > &	sgms
	)

static

Static method to retrieve every segment included in a vector of objects.

Definition at line 1497 of file TPoseOrPoint.cpp.

Referenced by mrpt::math::assemblePolygons().

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◆ getSegments() [2/2]

void mrpt::math::TObject3D::getSegments	(	const std::vector< TObject3D > &	objs,
		std::vector< TSegment3D > &	sgms,
		std::vector< TObject3D > &	remainder
	)

static

Static method to retrieve every segment included in a vector of objects, returning the remaining objects in another argument.

Definition at line 1531 of file TPoseOrPoint.cpp.

◆ getType()

unsigned char mrpt::math::TObject3D::getType ( ) const

inline

Gets object type.

Definition at line 115 of file TObject3D.h.

References type.

Referenced by mrpt::math::operator<<().

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◆ isLine()

bool mrpt::math::TObject3D::isLine ( ) const

inline

Checks whether content is a line.

Definition at line 103 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_LINE.

Referenced by getLine().

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◆ isPlane()

bool mrpt::math::TObject3D::isPlane ( ) const

inline

Checks whether content is a plane.

Definition at line 111 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_PLANE.

Referenced by getPlane().

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◆ isPoint()

bool mrpt::math::TObject3D::isPoint ( ) const

inline

Checks whether content is a point.

Definition at line 95 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_POINT.

Referenced by getPoint(), and mrpt::math::intersect().

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◆ isPolygon()

bool mrpt::math::TObject3D::isPolygon ( ) const

inline

Checks whether content is a polygon.

Definition at line 107 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_POLYGON.

Referenced by getPolygon().

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◆ isSegment()

bool mrpt::math::TObject3D::isSegment ( ) const

inline

Checks whether content is a segment.

Definition at line 99 of file TObject3D.h.

References mrpt::math::GEOMETRIC_TYPE_SEGMENT.

Referenced by getSegment().

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◆ operator=() [1/6]

TObject3D& mrpt::math::TObject3D::operator= ( const TObject3D & obj )

inline

Assigns another object, creating a new pointer if needed.

Definition at line 188 of file TObject3D.h.

References destroy(), mrpt::math::GEOMETRIC_TYPE_LINE, mrpt::math::GEOMETRIC_TYPE_PLANE, mrpt::math::GEOMETRIC_TYPE_POINT, mrpt::math::GEOMETRIC_TYPE_POLYGON, mrpt::math::GEOMETRIC_TYPE_SEGMENT, mrpt::math::GEOMETRIC_TYPE_UNDEFINED, and THROW_EXCEPTION.

Referenced by TObject3D().

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◆ operator=() [2/6]

void mrpt::math::TObject3D::operator= ( const TPoint3D & p )

inline

Assigns a point to this object.

Definition at line 219 of file TObject3D.h.

References destroy(), and mrpt::math::GEOMETRIC_TYPE_POINT.

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◆ operator=() [3/6]

void mrpt::math::TObject3D::operator= ( const TSegment3D & s )

inline

Assigns a segment to this object.

Definition at line 228 of file TObject3D.h.

References destroy(), and mrpt::math::GEOMETRIC_TYPE_SEGMENT.

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◆ operator=() [4/6]

void mrpt::math::TObject3D::operator= ( const TLine3D & l )

inline

Assigns a line to this object.

Definition at line 237 of file TObject3D.h.

References destroy(), and mrpt::math::GEOMETRIC_TYPE_LINE.

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◆ operator=() [5/6]

void mrpt::math::TObject3D::operator= ( const TPolygon3D & p )

inline

Assigns a polygon to this object.

Definition at line 246 of file TObject3D.h.

References destroy(), and mrpt::math::GEOMETRIC_TYPE_POLYGON.

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◆ operator=() [6/6]

void mrpt::math::TObject3D::operator= ( const TPlane & p )

inline

Assigns a plane to this object.

Definition at line 255 of file TObject3D.h.

References destroy(), and mrpt::math::GEOMETRIC_TYPE_PLANE.

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Member Data Documentation

◆ data

struct mrpt::math::TObject3D::tobject3d_data_t mrpt::math::TObject3D::data

private

◆ type

unsigned char mrpt::math::TObject3D::type {GEOMETRIC_TYPE_UNDEFINED}

private

Object type identifier.

Definition at line 31 of file TObject3D.h.

Referenced by getType().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ TObject3D() [1/7]

◆ TObject3D() [2/7]

◆ TObject3D() [3/7]

◆ TObject3D() [4/7]

◆ TObject3D() [5/7]

◆ TObject3D() [6/7]

◆ ~TObject3D()

◆ TObject3D() [7/7]

Member Function Documentation

◆ destroy()

◆ generate2DObject()

◆ getLine()

◆ getLines() [1/2]

◆ getLines() [2/2]

◆ getPlane()

◆ getPlanes() [1/2]

◆ getPlanes() [2/2]

◆ getPoint()

◆ getPoints() [1/2]

◆ getPoints() [2/2]

◆ getPolygon()

◆ getPolygons() [1/2]

◆ getPolygons() [2/2]

◆ getSegment()

◆ getSegments() [1/2]

◆ getSegments() [2/2]

◆ getType()

◆ isLine()

◆ isPlane()

◆ isPoint()

◆ isPolygon()

◆ isSegment()

◆ operator=() [1/6]

◆ operator=() [2/6]

◆ operator=() [3/6]

◆ operator=() [4/6]

◆ operator=() [5/6]

◆ operator=() [6/6]

Member Data Documentation

◆ data

◆ type