CPoint3D.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPOINT3D_H
#define CPOINT3D_H

#include <mrpt/poses/CPoint.h>

namespace mrpt
{
namespace poses
{
/** A class used to store a 3D point.
 *
 *  For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint,
 * or refer
 *    to the <a href="http://www.mrpt.org/2D_3D_Geometry" >2D/3D Geometry
 * tutorial</a> in the wiki.
 *
 *  <div align=center>
 *   <img src="CPoint3D.gif">
 *  </div>
 *
 * \ingroup poses_grp
 * \sa CPoseOrPoint,CPose, CPoint
 */
class CPoint3D : public CPoint<CPoint3D>, public mrpt::utils::CSerializable
{
        DEFINE_SERIALIZABLE(CPoint3D)

   public:
        /** [x,y,z] */
        mrpt::math::CArrayDouble<3> m_coords;

   public:
        /** Constructor for initializing point coordinates. */
        inline CPoint3D(const double x = 0, const double y = 0, const double z = 0)
        {
                m_coords[0] = x;
                m_coords[1] = y;
                m_coords[2] = z;
        }

        /** Constructor from a XYZ 3-vector */
        explicit inline CPoint3D(const mrpt::math::CArrayDouble<3>& xyz)
                : m_coords(xyz)
        {
        }

        /** Constructor from an CPoint2D object. */
        explicit CPoint3D(const CPoint2D& p);

        /** Constructor from an CPose3D object. */
        explicit CPoint3D(const CPose3D& p);

        /** Constructor from an CPose2D object. */
        explicit CPoint3D(const CPose2D& p);

        /** Constructor from lightweight object. */
        inline explicit CPoint3D(const mrpt::math::TPoint3D& p)
        {
                m_coords[0] = p.x;
                m_coords[1] = p.y;
                m_coords[2] = p.z;
        }

        /** Returns this point as seen from "b", i.e. result = this - b */
        CPoint3D operator-(const CPose3D& 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 */
        CPoint3D operator+(const CPoint3D& b) const;

        /** Returns this point plus pose "b", i.e. result = this + b  */
        CPose3D operator+(const CPose3D& b) const;

        enum
        {
                is_3D_val = 1
        };
        static inline bool is_3D() { return is_3D_val != 0; }
        enum
        {
                is_PDF_val = 0
        };
        static inline bool is_PDF() { return is_PDF_val != 0; }
        /** @name STL-like methods and typedefs
           @{   */
        /** The type of the elements */
        typedef double value_type;
        typedef double& reference;
        typedef const double& const_reference;
        typedef std::size_t size_type;
        typedef std::ptrdiff_t difference_type;

        // size is constant
        enum
        {
                static_size = 3
        };
        static inline size_type size() { return static_size; }
        static inline bool empty() { return false; }
        static inline size_type max_size() { return static_size; }
        static inline void resize(const size_t n)
        {
                if (n != static_size)
                        throw std::logic_error(
                                format(
                                        "Try to change the size of CPoint3D to %u.",
                                        static_cast<unsigned>(n)));
        }
        /** @} */

        void setToNaN() override;

};  // End of class def.

}  // End of namespace
}  // End of namespace

#endif