mrpt::math::TPoint2D Struct Reference

Detailed Description

Lightweight 2D point.

Allows coordinate access using [] operator.

See also

mrpt::poses::CPoint2D

Definition at line 31 of file TPoint2D.h.

#include <mrpt/math/TPoint2D.h>

Inheritance diagram for mrpt::math::TPoint2D:

Public Types
enum	{ static_size = 2 }

Public Member Functions
constexpr	TPoint2D ()
	Default constructor. More...
constexpr	TPoint2D (double xx, double yy)
	Constructor from coordinates. More...
constexpr	TPoint2D (const TPoint2D_data &d)
	TPoint2D (const TPose2D &p)
	Constructor from TPose2D, discarding phi. More...
	TPoint2D (const TPoint3D &p)
	Constructor from TPoint3D, discarding z. More...
	TPoint2D (const TPose3D &p)
	Constructor from TPose3D, discarding z and the angular coordinates. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
constexpr const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...
void	asVector (std::vector< double > &v) const
	Transformation into vector. More...
bool	operator< (const TPoint2D &p) const
TPoint2D &	operator+= (const TPoint2D &p)
TPoint2D &	operator-= (const TPoint2D &p)
TPoint2D &	operator*= (double d)
TPoint2D &	operator/= (double d)
constexpr TPoint2D	operator+ (const TPoint2D &p) const
constexpr TPoint2D	operator- (const TPoint2D &p) const
constexpr TPoint2D	operator* (double d) const
constexpr TPoint2D	operator/ (double d) const
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...
double	sqrNorm () const
	Squared norm: |v|^2 = x^2+y^2. More...
double	norm () const
	Point norm: |v| = sqrt(x^2+y^2) More...
constexpr std::size_t	rows () const
constexpr std::size_t	cols () const
constexpr std::size_t	size () const
void	resize (std::size_t n)
	throws if attempted to resize to incorrect length More...

Public Attributes
double	x
	X,Y coordinates. More...
double	y

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 35 of file TPoint2D.h.

Constructor & Destructor Documentation

TPoint2D() [1/6]

constexpr mrpt::math::TPoint2D::TPoint2D ( )

inline

Default constructor.

Initializes to zeros

Definition at line 40 of file TPoint2D.h.

TPoint2D() [2/6]

constexpr mrpt::math::TPoint2D::TPoint2D ( double  xx, double  yy  )

inline

Constructor from coordinates.

Definition at line 42 of file TPoint2D.h.

TPoint2D() [3/6]

constexpr mrpt::math::TPoint2D::TPoint2D ( const TPoint2D_data &  d )

inline

Definition at line 43 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

TPoint2D() [4/6]

mrpt::math::TPoint2D::TPoint2D ( const TPose2D &  p )

explicit

Constructor from TPose2D, discarding phi.

See also

TPose2D

Definition at line 59 of file TPoseOrPoint.cpp.

TPoint2D() [5/6]

mrpt::math::TPoint2D::TPoint2D ( const TPoint3D &  p )

explicit

Constructor from TPoint3D, discarding z.

See also

TPoint3D

Definition at line 64 of file TPoseOrPoint.cpp.

TPoint2D() [6/6]

mrpt::math::TPoint2D::TPoint2D ( const TPose3D &  p )

explicit

Constructor from TPose3D, discarding z and the angular coordinates.

See also

TPose3D

Definition at line 69 of file TPoseOrPoint.cpp.

Member Function Documentation

asString() [1/2]

void mrpt::math::TPoint2D::asString ( std::string &  s ) const

inline

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

See also

fromString

Definition at line 143 of file TPoint2D.h.

References mrpt::format().

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asString() [2/2]

std::string mrpt::math::TPoint2D::asString ( ) const

inline

Definition at line 144 of file TPoint2D.h.

asVector()

void mrpt::math::TPoint2D::asVector ( std::vector< double > &  v ) const

inline

Transformation into vector.

Definition at line 90 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D >::cols ( ) const

inlineinherited

Definition at line 57 of file TPoseOrPoint.h.

fromString()

void mrpt::math::TPoint2D::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::exception

On invalid format

Definition at line 84 of file TPoseOrPoint.cpp.

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

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norm()

double mrpt::math::TPoint2D::norm ( ) const

inline

Point norm: |v| = sqrt(x^2+y^2)

Definition at line 162 of file TPoint2D.h.

References sqrNorm().

Referenced by mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicND::gapsEstimator(), mrpt::nav::CHolonomicND::searchBestGap(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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operator*()

constexpr TPoint2D mrpt::math::TPoint2D::operator* ( double  d ) const

inline

Definition at line 137 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x.

operator*=()

TPoint2D& mrpt::math::TPoint2D::operator*= ( double  d )

inline

Definition at line 113 of file TPoint2D.h.

operator+()

constexpr TPoint2D mrpt::math::TPoint2D::operator+ ( const TPoint2D &  p ) const

inline

Definition at line 127 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x.

operator+=()

TPoint2D& mrpt::math::TPoint2D::operator+= ( const TPoint2D &  p )

inline

Definition at line 99 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x.

operator-()

constexpr TPoint2D mrpt::math::TPoint2D::operator- ( const TPoint2D &  p ) const

inline

Definition at line 132 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x.

operator-=()

TPoint2D& mrpt::math::TPoint2D::operator-= ( const TPoint2D &  p )

inline

Definition at line 106 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x.

operator/()

constexpr TPoint2D mrpt::math::TPoint2D::operator/ ( double  d ) const

inline

Definition at line 138 of file TPoint2D.h.

operator/=()

TPoint2D& mrpt::math::TPoint2D::operator/= ( double  d )

inline

Definition at line 120 of file TPoint2D.h.

operator<()

bool mrpt::math::TPoint2D::operator<

(

const TPoint2D &

p

)

const

Definition at line 75 of file TPoseOrPoint.cpp.

operator[]() [1/2]

double& mrpt::math::TPoint2D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y

Definition at line 61 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

operator[]() [2/2]

constexpr const double& mrpt::math::TPoint2D::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y

Definition at line 74 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

resize()

void mrpt::math::internal::ProvideStaticResize< TPoint2D >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 61 of file TPoseOrPoint.h.

rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D >::rows ( ) const

inlineinherited

Definition at line 56 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint2D >::size ( ) const

inlineinherited

Definition at line 58 of file TPoseOrPoint.h.

sqrNorm()

double mrpt::math::TPoint2D::sqrNorm ( ) const

inline

Squared norm: |v|^2 = x^2+y^2.

Definition at line 159 of file TPoint2D.h.

References mrpt::math::TPoint2D_data::y.

Referenced by norm().

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Member Data Documentation

x

double mrpt::math::TPoint2D_data::x

inherited

X,Y coordinates.

Definition at line 23 of file TPoint2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::vision::findMultipleChessboardsCorners(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::nav::TWaypoint::isValid(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), operator*(), operator+(), mrpt::poses::operator+(), operator+=(), operator-(), operator-=(), mrpt::math::operator==(), operator[](), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), TPoint2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

y

double mrpt::math::TPoint2D_data::y

inherited

Definition at line 23 of file TPoint2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::math::TPolygon2D::contains(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::nav::TWaypoint::getAsText(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::nav::TWaypoint::isValid(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::poses::operator+(), mrpt::math::operator==(), operator[](), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), sqrNorm(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), TPoint2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().