MRPT
1.9.9
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Lightweight 3D point.
Allows coordinate access using [] operator.
Definition at line 90 of file TPoint3D.h.
#include <mrpt/math/TPoint3D.h>
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enum | { static_size = 3 } |
Public Member Functions | |
constexpr | TPoint3D () |
Default constructor. More... | |
constexpr | TPoint3D (double xx, double yy, double zz) |
Constructor from coordinates. More... | |
constexpr | TPoint3D (const TPoint3D_data &d) |
TPoint3D (const TPoint3Df &p) | |
Explicit constructor from coordinates. More... | |
TPoint3D (const TPoint2D &p) | |
Implicit constructor from TPoint2D. More... | |
TPoint3D (const TPose2D &p) | |
Constructor from TPose2D, losing information. More... | |
TPoint3D (const TPose3D &p) | |
Constructor from TPose3D, losing information. More... | |
double & | operator[] (size_t i) |
Coordinate access using operator[]. More... | |
constexpr const double & | operator[] (size_t i) const |
Coordinate access using operator[]. More... | |
double | distanceTo (const TPoint3D &p) const |
Point-to-point distance. More... | |
double | sqrDistanceTo (const TPoint3D &p) const |
Point-to-point distance, squared. More... | |
double | sqrNorm () const |
Squared norm: |v|^2 = x^2+y^2+z^2. More... | |
double | norm () const |
Point norm: |v| = sqrt(x^2+y^2+z^2) More... | |
TPoint3D & | operator*= (const double f) |
Scale point/vector. More... | |
template<class VECTORLIKE > | |
void | asVector (VECTORLIKE &v) const |
Transformation into vector. More... | |
TPoint3D & | operator+= (const TPoint3D &p) |
Translation. More... | |
TPoint3D & | operator-= (const TPoint3D &p) |
Difference between points. More... | |
constexpr TPoint3D | operator+ (const TPoint3D &p) const |
Points addition. More... | |
constexpr TPoint3D | operator- (const TPoint3D &p) const |
Points substraction. More... | |
constexpr TPoint3D | operator* (double d) const |
constexpr TPoint3D | operator/ (double d) const |
bool | operator< (const TPoint3D &p) const |
void | asString (std::string &s) const |
Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" ) 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 -0.8]" ) 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,Z coordinates. More... | |
double | y |
double | z |
anonymous enum |
Enumerator | |
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static_size |
Definition at line 94 of file TPoint3D.h.
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Constructor from coordinates.
Definition at line 102 of file TPoint3D.h.
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Definition at line 106 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.
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inlineexplicit |
Explicit constructor from coordinates.
Definition at line 109 of file TPoint3D.h.
mrpt::math::TPoint3D::TPoint3D | ( | const TPoint2D & | p | ) |
Implicit constructor from TPoint2D.
Zeroes the z.
Definition at line 229 of file TPoseOrPoint.cpp.
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explicit |
Constructor from TPose2D, losing information.
Zeroes the z.
Definition at line 235 of file TPoseOrPoint.cpp.
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Constructor from TPose3D, losing information.
Definition at line 241 of file TPoseOrPoint.cpp.
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Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )
Definition at line 249 of file TPoint3D.h.
References mrpt::format().
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Definition at line 253 of file TPoint3D.h.
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Transformation into vector.
Definition at line 191 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.
Referenced by mrpt::math::TSegment3D::distance().
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Definition at line 57 of file TPoseOrPoint.h.
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Point-to-point distance.
Definition at line 162 of file TPoint3D.h.
References mrpt::square().
Referenced by mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), and mrpt::topography::path_from_rtk_gps().
void mrpt::math::TPoint3D::fromString | ( | const std::string & | s | ) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )
std::exception | On invalid format |
Definition at line 260 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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Point norm: |v| = sqrt(x^2+y^2+z^2)
Definition at line 177 of file TPoint3D.h.
References sqrNorm().
Referenced by mrpt::vision::computeMsd(), mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::vision::projectMatchedFeatures(), and mrpt::math::TPlane::TPlane().
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Definition at line 233 of file TPoint3D.h.
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Scale point/vector.
Definition at line 180 of file TPoint3D.h.
Points addition.
Definition at line 221 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x.
Points substraction.
Definition at line 228 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x.
Difference between points.
Definition at line 211 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x.
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Definition at line 238 of file TPoint3D.h.
bool mrpt::math::TPoint3D::operator< | ( | const TPoint3D & | p | ) | const |
Definition at line 247 of file TPoseOrPoint.cpp.
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Coordinate access using operator[].
Order: x,y,z
Definition at line 130 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.
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Coordinate access using operator[].
Order: x,y,z
Definition at line 145 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.
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throws if attempted to resize to incorrect length
Definition at line 61 of file TPoseOrPoint.h.
References ASSERT_EQUAL_.
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Definition at line 56 of file TPoseOrPoint.h.
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Definition at line 58 of file TPoseOrPoint.h.
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Point-to-point distance, squared.
Definition at line 169 of file TPoint3D.h.
References mrpt::square().
Referenced by mrpt::topography::path_from_rtk_gps().
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Squared norm: |v|^2 = x^2+y^2+z^2.
Definition at line 174 of file TPoint3D.h.
References mrpt::math::TPoint3D_data::z.
Referenced by norm().
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X,Y,Z coordinates.
Definition at line 83 of file TPoint3D.h.
Referenced by mrpt::math::areAligned(), asVector(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::detectors::CFaceDetection::checkRelativePosition(), mrpt::math::TPose3D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::math::conformAPlane(), mrpt::math::TPolygon3D::contains(), mrpt::math::TLine3D::contains(), mrpt::obs::detail::cost_func(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::vision::frameJac(), mrpt::maps::CPointsMap::fuseWith(), mrpt::topography::geocentricToENU_WGS84(), mrpt::topography::geocentricToGeodetic(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::geodeticToUTM(), mrpt::topography::GeodeticToUTM(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), mrpt::opengl::CSetOfObjects::getBoundingBox(), mrpt::opengl::COpenGLViewport::getBoundingBox(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), IMPLEMENTS_SERIALIZABLE(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::math::operator!=(), operator+(), operator+=(), operator-(), mrpt::math::operator-(), operator-=(), mrpt::math::operator==(), operator[](), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoint_with_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CColorBar::render_dl(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::COctoMapVoxels::render_dl(), mrpt::opengl::gl_utils::renderTriangleWithNormal(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), se3_l2_internal(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CBox::setBoxCorners(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::COccupancyGridMap3D::setSize(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), TEST(), Pose3DQuatTests::test_composeAndInvComposePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), mrpt::math::TLine2D::TLine2D(), mrpt::math::TLine3D::TLine3D(), mrpt::math::TPlane::TPlane(), TPoint3D(), mrpt::opengl::CCylinder::traceRay(), mrpt::topography::transfInterpolation(), mrpt::topography::transform10params(), mrpt::topography::transform1D(), mrpt::topography::transform7params(), mrpt::topography::transform7params_TOPCON(), mrpt::topography::transformHelmert3D_TOPCON(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), unsafeProjectPoint(), and mrpt::topography::UTMToGeodetic().
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Definition at line 83 of file TPoint3D.h.
Referenced by mrpt::math::areAligned(), asVector(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::detectors::CFaceDetection::checkRelativePosition(), mrpt::math::TPose3D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::math::conformAPlane(), mrpt::math::TPolygon3D::contains(), mrpt::math::TLine3D::contains(), mrpt::obs::detail::cost_func(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::vision::frameJac(), mrpt::topography::geocentricToENU_WGS84(), mrpt::topography::geocentricToGeodetic(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::geodeticToUTM(), mrpt::topography::GeodeticToUTM(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), mrpt::opengl::CSetOfObjects::getBoundingBox(), mrpt::opengl::COpenGLViewport::getBoundingBox(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), IMPLEMENTS_SERIALIZABLE(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::math::operator!=(), mrpt::math::operator-(), mrpt::math::operator==(), operator[](), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoint_with_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CColorBar::render_dl(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::gl_utils::renderTriangleWithNormal(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), se3_l2_internal(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CBox::setBoxCorners(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::COccupancyGridMap3D::setSize(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), TEST(), Pose3DQuatTests::test_composeAndInvComposePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), mrpt::math::TLine2D::TLine2D(), mrpt::math::TLine3D::TLine3D(), mrpt::math::TPlane::TPlane(), TPoint3D(), mrpt::opengl::CCylinder::traceRay(), mrpt::topography::transfInterpolation(), mrpt::topography::transform10params(), mrpt::topography::transform1D(), mrpt::topography::transform7params(), mrpt::topography::transform7params_TOPCON(), mrpt::topography::transformHelmert3D_TOPCON(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), unsafeProjectPoint(), and mrpt::topography::UTMToGeodetic().
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Definition at line 83 of file TPoint3D.h.
Referenced by mrpt::math::areAligned(), asVector(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay(), mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::math::TPose3D::composePoint(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::math::conformAPlane(), mrpt::math::TPolygon3D::contains(), mrpt::math::TLine3D::contains(), mrpt::obs::detail::cost_func(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TPolygon3D::distance(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::vision::frameJac(), mrpt::topography::geocentricToENU_WGS84(), mrpt::topography::geocentricToGeodetic(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::geodeticToUTM(), mrpt::topography::GeodeticToUTM(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), mrpt::opengl::CSetOfObjects::getBoundingBox(), mrpt::opengl::COpenGLViewport::getBoundingBox(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), IMPLEMENTS_SERIALIZABLE(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::math::operator!=(), mrpt::math::operator-(), mrpt::math::operator==(), operator[](), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoint_with_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CColorBar::render_dl(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::gl_utils::renderTriangleWithNormal(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), se3_l2_internal(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CBox::setBoxCorners(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::COccupancyGridMap3D::setSize(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), sqrNorm(), TEST(), Pose3DQuatTests::test_composeAndInvComposePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), mrpt::math::TLine3D::TLine3D(), mrpt::math::TPlane::TPlane(), TPoint3D(), mrpt::opengl::CCylinder::traceRay(), mrpt::topography::transfInterpolation(), mrpt::topography::transform10params(), mrpt::topography::transform1D(), mrpt::topography::transform7params(), mrpt::topography::transform7params_TOPCON(), mrpt::topography::transformHelmert3D_TOPCON(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and mrpt::topography::UTMToGeodetic().
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