mrpt::math::TPoint3D_< T > Struct Template Reference

Detailed Description

template<typename T>
struct mrpt::math::TPoint3D_< T >

Base template for TPoint3D and TPoint3Df.

[1-byte memory packed, no padding]

Definition at line 37 of file TPoint3D.h.

#include <mrpt/math/TPoint3D.h>

Inheritance diagram for mrpt::math::TPoint3D_< T >:

Public Types
enum	{ static_size = 3 }

Public Member Functions
constexpr	TPoint3D_ ()
	Default constructor. More...
constexpr	TPoint3D_ (T xx, T yy, T zz)
	Constructor from coordinates. More...
template<typename U >
	TPoint3D_ (const TPoint3D_data< U > &p)
	Constructor from coordinates. More...
template<typename U >
	TPoint3D_ (const mrpt::math::CMatrixFixed< U, 3, 1 > &m)
	Constructor from column vector. More...
	TPoint3D_ (const TPoint2D_< T > &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...
template<typename U >
TPoint3D_< U >	cast () const
	Return a copy of this object using type U for coordinates. More...
T &	operator[] (size_t i)
	Coordinate access using operator[]. More...
constexpr T	operator[] (size_t i) const
	Coordinate access using operator[]. More...
T	distanceTo (const TPoint3D_< T > &p) const
	Point-to-point distance. More...
T	sqrDistanceTo (const TPoint3D_< T > &p) const
	Point-to-point distance, squared. More...
T	sqrNorm () const
	Squared norm: |v|^2 = x^2+y^2+z^2. More...
T	norm () const
	Point norm: |v| = sqrt(x^2+y^2+z^2) More...
TPoint3D_< T >	unitarize () const
	Returns this vector with unit length: v/norm(v) More...
TPoint3D_< T > &	operator*= (const T f)
	Scale point/vector. More...
template<class VECTORLIKE >
void	asVector (VECTORLIKE &v) const
	Transformation into vector. More...
TPoint3D_< T > &	operator+= (const TPoint3D_< T > &p)
	Translation. More...
TPoint3D_< T > &	operator-= (const TPoint3D_< T > &p)
	Difference between points. More...
constexpr TPoint3D_< T >	operator+ (const TPoint3D_< T > &p) const
	Points addition. More...
constexpr TPoint3D_< T >	operator- (const TPoint3D_< T > &p) const
	Points substraction. More...
constexpr TPoint3D_< T >	operator* (T d) const
constexpr TPoint3D_< T >	operator/ (T d) const
bool	operator< (const TPoint3D_< T > &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...

Static Public Member Functions
static TPoint3D_< T >	FromString (const std::string &s)

Public Attributes
T	x
	X,Y,Z coordinates. More...
T	y
T	z

Member Enumeration Documentation

anonymous enum

template<typename T>

anonymous enum

Enumerator
static_size

Definition at line 41 of file TPoint3D.h.

Constructor & Destructor Documentation

TPoint3D_() [1/7]

template<typename T>

constexpr mrpt::math::TPoint3D_< T >::TPoint3D_ ( )

inline

Default constructor.

Initializes to zeros.

Definition at line 47 of file TPoint3D.h.

TPoint3D_() [2/7]

template<typename T>

constexpr mrpt::math::TPoint3D_< T >::TPoint3D_ ( T  xx, T  yy, T  zz  )

inline

Constructor from coordinates.

Definition at line 49 of file TPoint3D.h.

TPoint3D_() [3/7]

template<typename T>

template<typename U >

mrpt::math::TPoint3D_< T >::TPoint3D_ ( const TPoint3D_data< U > &  p )

inline

Constructor from coordinates.

Definition at line 53 of file TPoint3D.h.

TPoint3D_() [4/7]

template<typename T>

template<typename U >

mrpt::math::TPoint3D_< T >::TPoint3D_ ( const mrpt::math::CMatrixFixed< U, 3, 1 > &  m )

inline

Constructor from column vector.

Definition at line 62 of file TPoint3D.h.

TPoint3D_() [5/7]

template<typename T>

mrpt::math::TPoint3D_< T >::TPoint3D_

(

const TPoint2D_< T > &

p

)

Implicit constructor from TPoint2D.

Zeroes the z.

See also

TPoint2D

Definition at line 26 of file TPoint3D.cpp.

TPoint3D_() [6/7]

template<typename T>

mrpt::math::TPoint3D_< T >::TPoint3D_ ( const TPose2D &  p )

explicit

Constructor from TPose2D, losing information.

Zeroes the z.

See also

TPose2D

Definition at line 31 of file TPoint3D.cpp.

TPoint3D_() [7/7]

template<typename T>

mrpt::math::TPoint3D_< T >::TPoint3D_ ( const TPose3D &  p )

explicit

Constructor from TPose3D, losing information.

See also

TPose3D

Definition at line 37 of file TPoint3D.cpp.

Member Function Documentation

asString() [1/2]

template<typename T>

void mrpt::math::TPoint3D_< T >::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )

See also

fromString

Definition at line 236 of file TPoint3D.h.

asString() [2/2]

template<typename T>

std::string mrpt::math::TPoint3D_< T >::asString ( ) const

inline

Definition at line 242 of file TPoint3D.h.

Referenced by mrpt::math::TPoint3D_< float >::asString().

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asVector()

template<typename T>

template<class VECTORLIKE >

void mrpt::math::TPoint3D_< T >::asVector ( VECTORLIKE &  v ) const

inline

Transformation into vector.

Definition at line 174 of file TPoint3D.h.

Referenced by mrpt::math::TSegment3D::distance().

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cast()

template<typename T>

template<typename U >

TPoint3D_<U> mrpt::math::TPoint3D_< T >::cast ( ) const

inline

Return a copy of this object using type U for coordinates.

Definition at line 86 of file TPoint3D.h.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint3D_< T > >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

distanceTo()

template<typename T>

T mrpt::math::TPoint3D_< T >::distanceTo ( const TPoint3D_< T > &  p ) const

inline

Point-to-point distance.

Definition at line 126 of file TPoint3D.h.

Referenced by mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), and mrpt::topography::path_from_rtk_gps().

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fromString()

template<typename T >

void mrpt::math::TPoint3D_< T >::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See also

asString

Exceptions

std::exception

On invalid format

Definition at line 59 of file TPoint3D.cpp.

Referenced by mrpt::math::TPoint3D_< float >::FromString().

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FromString()

template<typename T>

static TPoint3D_<T> mrpt::math::TPoint3D_< T >::FromString ( const std::string &  s )

inlinestatic

Definition at line 256 of file TPoint3D.h.

norm()

template<typename T>

T mrpt::math::TPoint3D_< T >::norm ( ) const

inline

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

Definition at line 150 of file TPoint3D.h.

Referenced by mrpt::vision::computeMsd(), mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::ros1bridge::fromROS(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::vision::pixelTo3D(), mrpt::vision::projectMatchedFeatures(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), TEST(), mrpt::math::TPlane::TPlane(), mrpt::math::TLine3D::unitarize(), and mrpt::math::TPoint3D_< float >::unitarize().

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operator*()

template<typename T>

constexpr TPoint3D_<T> mrpt::math::TPoint3D_< T >::operator* ( T  d ) const

inline

Definition at line 218 of file TPoint3D.h.

operator*=()

template<typename T>

TPoint3D_<T>& mrpt::math::TPoint3D_< T >::operator*= ( const T  f )

inline

Scale point/vector.

Definition at line 163 of file TPoint3D.h.

operator+()

template<typename T>

constexpr TPoint3D_<T> mrpt::math::TPoint3D_< T >::operator+ ( const TPoint3D_< T > &  p ) const

inline

Points addition.

Definition at line 204 of file TPoint3D.h.

operator+=()

template<typename T>

TPoint3D_<T>& mrpt::math::TPoint3D_< T >::operator+= ( const TPoint3D_< T > &  p )

inline

Translation.

Definition at line 184 of file TPoint3D.h.

operator-()

template<typename T>

constexpr TPoint3D_<T> mrpt::math::TPoint3D_< T >::operator- ( const TPoint3D_< T > &  p ) const

inline

Points substraction.

Definition at line 212 of file TPoint3D.h.

operator-=()

template<typename T>

TPoint3D_<T>& mrpt::math::TPoint3D_< T >::operator-= ( const TPoint3D_< T > &  p )

inline

Difference between points.

Definition at line 194 of file TPoint3D.h.

operator/()

template<typename T>

constexpr TPoint3D_<T> mrpt::math::TPoint3D_< T >::operator/ ( T  d ) const

inline

Definition at line 224 of file TPoint3D.h.

operator<()

template<typename T>

bool mrpt::math::TPoint3D_< T >::operator<

(

const TPoint3D_< T > &

p

)

const

Definition at line 44 of file TPoint3D.cpp.

operator[]() [1/2]

template<typename T>

T& mrpt::math::TPoint3D_< T >::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y,z

Definition at line 94 of file TPoint3D.h.

operator[]() [2/2]

template<typename T>

constexpr T mrpt::math::TPoint3D_< T >::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y,z

Definition at line 109 of file TPoint3D.h.

resize()

void mrpt::math::internal::ProvideStaticResize< TPoint3D_< T > >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint3D_< T > >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPoint3D_< T > >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

sqrDistanceTo()

template<typename T>

T mrpt::math::TPoint3D_< T >::sqrDistanceTo ( const TPoint3D_< T > &  p ) const

inline

Point-to-point distance, squared.

Definition at line 136 of file TPoint3D.h.

Referenced by mrpt::topography::path_from_rtk_gps().

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sqrNorm()

template<typename T>

T mrpt::math::TPoint3D_< T >::sqrNorm ( ) const

inline

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

Definition at line 143 of file TPoint3D.h.

Referenced by mrpt::math::TPoint3D_< float >::norm().

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unitarize()

template<typename T>

TPoint3D_<T> mrpt::math::TPoint3D_< T >::unitarize ( ) const

inline

Returns this vector with unit length: v/norm(v)

Definition at line 153 of file TPoint3D.h.

Referenced by mrpt::opengl::CMesh::updateTriangles().

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Member Data Documentation

x

template<typename T>

T mrpt::math::TPoint3D_data< T >::x

inherited

X,Y,Z coordinates.

Definition at line 29 of file TPoint3D.h.

Referenced by mrpt::math::areAligned(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::math::TPoint3D_< float >::cast(), 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::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::math::TPoint3D_< float >::distanceTo(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distanceTo(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::opengl::enqueForRendering(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::vision::frameJac(), mrpt::ros1bridge::fromROS(), 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::TPolygon3D::getCenter(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::TPolyhedronFace::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerX(), mrpt::opengl::CPolyhedron::getDual(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::maps::CPointsMap::getPoint(), mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::getPointXYZ(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::math::TPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dA_eps_D_p_deps(), jacob_db_dp(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), kfslam_traits< CRangeBearingKFSLAM2D >::landmark_to_3d(), kfslam_traits< CRangeBearingKFSLAM >::landmark_to_3d(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Triangles(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe(), mrpt::math::operator!=(), mrpt::math::TPoint3D_< float >::operator+(), mrpt::math::TPoint3D_< float >::operator+=(), mrpt::math::TPoint3D_< float >::operator-(), mrpt::math::operator-(), mrpt::math::TPoint3D_< float >::operator-=(), mrpt::math::TPoint3D_< float >::operator<(), mrpt::math::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pixelTo3D(), mrpt::maps::CPointsMapXYZI::PLY_export_get_vertex(), mrpt::maps::CColouredPointsMap::PLY_export_get_vertex(), mrpt::maps::CPointsMap::PLY_export_get_vertex(), mrpt::opengl::CPointCloud::PLY_import_set_vertex(), mrpt::opengl::CPointCloudColoured::PLY_import_set_vertex(), mrpt::maps::CPointsMapXYZI::PLY_import_set_vertex(), mrpt::maps::CColouredPointsMap::PLY_import_set_vertex(), mrpt::maps::CPointsMap::PLY_import_set_vertex(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::opengl::CRenderizableShaderTriangles::render(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::opengl::PLY_Exporter::saveToPlyFile(), se3_l2_internal(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CRenderizable::setLocation(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::CPointsMap::setPoint(), mrpt::opengl::CCamera::setPointingAt(), mrpt::maps::COccupancyGridMap3D::setSize(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), mrpt::math::TPoint3D_< float >::sqrDistanceTo(), 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(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::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(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb(), mrpt::topography::UTMToGeodetic(), and velodyne_scan_to_pointcloud().

y

template<typename T>

T mrpt::math::TPoint3D_data< T >::y

inherited

Definition at line 29 of file TPoint3D.h.

Referenced by mrpt::math::areAligned(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::math::TPoint3D_< float >::cast(), 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::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::math::TPoint3D_< float >::distanceTo(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distanceTo(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::opengl::enqueForRendering(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::vision::frameJac(), mrpt::ros1bridge::fromROS(), 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::CFrustum::getBoundingBox(), mrpt::opengl::CSetOfObjects::getBoundingBox(), mrpt::opengl::COpenGLViewport::getBoundingBox(), mrpt::math::TPolygon3D::getCenter(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::TPolyhedronFace::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerY(), mrpt::opengl::CPolyhedron::getDual(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::math::TPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dA_eps_D_p_deps(), jacob_db_dp(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), kfslam_traits< CRangeBearingKFSLAM2D >::landmark_to_3d(), kfslam_traits< CRangeBearingKFSLAM >::landmark_to_3d(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Triangles(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe(), mrpt::math::operator!=(), mrpt::math::TPoint3D_< float >::operator+(), mrpt::math::TPoint3D_< float >::operator+=(), mrpt::math::TPoint3D_< float >::operator-(), mrpt::math::operator-(), mrpt::math::TPoint3D_< float >::operator-=(), mrpt::math::TPoint3D_< float >::operator<(), mrpt::math::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pixelTo3D(), mrpt::maps::CPointsMapXYZI::PLY_export_get_vertex(), mrpt::maps::CColouredPointsMap::PLY_export_get_vertex(), mrpt::maps::CPointsMap::PLY_export_get_vertex(), mrpt::opengl::CPointCloud::PLY_import_set_vertex(), mrpt::opengl::CPointCloudColoured::PLY_import_set_vertex(), mrpt::maps::CPointsMapXYZI::PLY_import_set_vertex(), mrpt::maps::CColouredPointsMap::PLY_import_set_vertex(), mrpt::maps::CPointsMap::PLY_import_set_vertex(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::push_back(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::opengl::PLY_Exporter::saveToPlyFile(), se3_l2_internal(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CRenderizable::setLocation(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::CPointsMap::setPoint(), mrpt::opengl::CCamera::setPointingAt(), mrpt::maps::COccupancyGridMap3D::setSize(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), mrpt::math::TPoint3D_< float >::sqrDistanceTo(), 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(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::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(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb(), mrpt::topography::UTMToGeodetic(), and velodyne_scan_to_pointcloud().

z

template<typename T>

T mrpt::math::TPoint3D_data< T >::z

inherited

Definition at line 29 of file TPoint3D.h.

Referenced by mrpt::math::areAligned(), aux_projectPoint_with_distortion(), mrpt::maps::CPointsMap::boundingBox(), mrpt::math::TPoint3D_< float >::cast(), 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::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), mrpt::math::TPolygon3D::distance(), mrpt::math::TLine3D::distance(), mrpt::math::distance(), mrpt::math::TPoint3D_< float >::distanceTo(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::distanceTo(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawGroundGrid(), mrpt::opengl::enqueForRendering(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::ENUToGeocentric(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::maps::CPointsMap::extractPoints(), mrpt::maps::CPointCloudFilterByDistance::filter(), 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::CPointsMap::getAs3DObject(), mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CSetOfObjects::getBoundingBox(), mrpt::opengl::COpenGLViewport::getBoundingBox(), mrpt::math::TPolygon3D::getCenter(), mrpt::math::TSegment3D::getCenter(), mrpt::opengl::CPolyhedron::TPolyhedronFace::getCenter(), mrpt::opengl::CPolyhedron::getCenter(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerZ(), mrpt::opengl::CPolyhedron::getDual(), mrpt::opengl::CSetOfLines::getLineByIndex(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getPrismBounds(), mrpt::math::getSegmentBisector(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::COccupancyGridMap3D::insertRay(), insertRotunda(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), mrpt::math::intersect(), mrpt::maps::CHeightGridMap2D_Base::intersectLine3D(), mrpt::math::TPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::poses::CPose3D::inverseRotateVector(), jacob_dA_eps_D_p_deps(), jacob_db_dp(), jacob_dh_db_and_dh_dc(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint3DIdx(), kfslam_traits< CRangeBearingKFSLAM2D >::landmark_to_3d(), kfslam_traits< CRangeBearingKFSLAM >::landmark_to_3d(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::vision::matchFeatures(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Triangles(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe(), mrpt::math::operator!=(), mrpt::math::TPoint3D_< float >::operator+(), mrpt::math::TPoint3D_< float >::operator+=(), mrpt::math::TPoint3D_< float >::operator-(), mrpt::math::operator-(), mrpt::math::TPoint3D_< float >::operator-=(), mrpt::math::TPoint3D_< float >::operator<(), mrpt::math::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::vision::pixelTo3D(), mrpt::maps::CPointsMapXYZI::PLY_export_get_vertex(), mrpt::maps::CColouredPointsMap::PLY_export_get_vertex(), mrpt::maps::CPointsMap::PLY_export_get_vertex(), mrpt::opengl::CPointCloud::PLY_import_set_vertex(), mrpt::opengl::CPointCloudColoured::PLY_import_set_vertex(), mrpt::maps::CPointsMapXYZI::PLY_import_set_vertex(), mrpt::maps::CColouredPointsMap::PLY_import_set_vertex(), mrpt::maps::CPointsMap::PLY_import_set_vertex(), mrpt::vision::pointJac(), project_point(), mrpt::vision::projectMatchedFeature(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::maps::COccupancyGridMap3D::resizeGrid(), mrpt::poses::CPose3D::rotateVector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::opengl::PLY_Exporter::saveToPlyFile(), se3_l2_internal(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CRenderizable::setLocation(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::CPointsMap::setPoint(), mrpt::opengl::CCamera::setPointingAt(), mrpt::maps::COccupancyGridMap3D::setSize(), sort_voxels_z(), mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), mrpt::math::TPoint3D_< float >::sqrDistanceTo(), 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(), mrpt::math::TPoint3D_< float >::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(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb(), mrpt::topography::UTMToGeodetic(), and velodyne_scan_to_pointcloud().