class mrpt::poses::CPoint3D

Overview

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

#include <mrpt/poses/CPoint3D.h>

class CPoint3D:
    public mrpt::poses::CPoint,
    public mrpt::serialization::CSerializable
{
public:
    // typedefs

    typedef double value_type;
    typedef double& reference;
    typedef double const_reference;
    typedef std::size_t size_type;
    typedef std::ptrdiff_t difference_type;

    // enums

    enum
    {
        is_3D_val = 1,
    };

    enum
    {
        is_PDF_val = 0,
    };

    enum
    {
        static_size = 3,
    };

    // fields

    mrpt::math::CVectorFixedDouble<3> m_coords;

    // construction

    CPoint3D(const double x = 0, const double y = 0, const double z = 0);
    CPoint3D(const mrpt::math::CVectorFixedDouble<3>& xyz);
    CPoint3D(const CPoint2D& p);
    CPoint3D(const CPose3D& p);
    CPoint3D(const CPose2D& p);
    CPoint3D(const mrpt::math::TPoint3D& p);

    // methods

    static constexpr size_type size();
    static constexpr bool empty();
    static constexpr size_type max_size();
    static void resize(const size_t n);
    double operator [] (unsigned int i) const;
    double& operator [] (unsigned int i);
    mrpt::math::TPoint3D asTPoint() const;
    CPoint3D operator - (const CPose3D& b) const;
    CPoint3D operator - (const CPoint3D& b) const;
    CPoint3D operator + (const CPoint3D& b) const;
    CPose3D operator + (const CPose3D& b) const;
    void asVector(vector_t& v) const;
    virtual void setToNaN();
    static constexpr bool is_3D();
    static constexpr bool is_PDF();
};

Inherited Members

public:
    // typedefs

    typedef mrpt::math::CVectorFixedDouble<DIM> vector_t;

    // methods

    double& x();
    double& y();
    void x(const double v);
    void y(const double v);
    void x_incr(const double v);
    void y_incr(const double v);
    const DERIVEDCLASS& derived() const;
    DERIVEDCLASS& derived();

    template <class OTHERCLASS>
    void AddComponents(const OTHERCLASS& b);

    void operator *= (const double s);

    template <class MATRIX44>
    void getHomogeneousMatrix(MATRIX44& out_HM) const;

    virtual std::string asString() const;
    void fromString(const std::string& s);
    double x() const;
    double y() const;

    template <class OTHERCLASS, std::size_t DIM2>
    double sqrDistanceTo(const CPoseOrPoint<OTHERCLASS, DIM2>& b) const;

    template <class OTHERCLASS, std::size_t DIM2>
    double distanceTo(const CPoseOrPoint<OTHERCLASS, DIM2>& b) const;

    double distanceTo(const mrpt::math::TPoint3D& b) const;
    double distance2DToSquare(double ax, double ay) const;
    double distance3DToSquare(double ax, double ay, double az) const;
    double distance2DTo(double ax, double ay) const;
    double distance3DTo(double ax, double ay, double az) const;
    double norm() const;
    vector_t asVectorVal() const;

    template <class MATRIX44>
    MATRIX44 getHomogeneousMatrixVal() const;

    template <class MATRIX44>
    void getInverseHomogeneousMatrix(MATRIX44& out_HM) const;

    template <class MATRIX44>
    MATRIX44 getInverseHomogeneousMatrixVal() const;

    virtual void setToNaN() = 0;
    static bool is3DPoseOrPoint();

Typedefs

typedef double value_type

The type of the elements.

Fields

mrpt::math::CVectorFixedDouble<3> m_coords

[x,y,z]

Construction

CPoint3D(const double x = 0, const double y = 0, const double z = 0)

Constructor for initializing point coordinates.

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

Constructor from a XYZ 3-vector.

CPoint3D(const CPoint2D& p)

Constructor from an CPoint2D object.

CPoint3D(const CPose3D& p)

Constructor from an CPose3D object.

CPoint3D(const CPose2D& p)

Constructor from an CPose2D object.

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

Constructor from lightweight object.

Methods

CPoint3D operator - (const CPose3D& b) const

Returns this point as seen from “b”, i.e.

result = this - b

CPoint3D operator - (const CPoint3D& b) const

Returns this point minus point “b”, i.e.

result = this - b

CPoint3D operator + (const CPoint3D& b) const

Returns this point plus point “b”, i.e.

result = this + b

CPose3D operator + (const CPose3D& b) const

Returns this point plus pose “b”, i.e.

result = this + b

void asVector(vector_t& v) const

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

virtual void setToNaN()

Set all data fields to quiet NaN.