Detailed Description

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

Definition at line 31 of file CPoint3D.h.

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 0 }

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CPoint3D (const double x=0, const double y=0, const double z=0)
	Constructor for initializing point coordinates. More...

	CPoint3D (const mrpt::math::CArrayDouble< 3 > &xyz)
	Constructor from a XYZ 3-vector. More...

	CPoint3D (const CPoint2D &p)
	Constructor from an CPoint2D object. More...

	CPoint3D (const CPose3D &p)
	Constructor from an CPose3D object. More...

	CPoint3D (const CPose2D &p)
	Constructor from an CPose2D object. More...

	CPoint3D (const mrpt::math::TPoint3D &p)
	Constructor from lightweight object. More...

mrpt::math::TPoint3D	asTPoint () const

CPoint3D	operator- (const CPose3D &b) const
	Returns this point as seen from "b", i.e. More...

CPoint3D	operator- (const CPoint3D &b) const
	Returns this point minus point "b", i.e. More...

CPoint3D	operator+ (const CPoint3D &b) const
	Returns this point plus point "b", i.e. More...

CPose3D	operator+ (const CPose3D &b) const
	Returns this point plus pose "b", i.e. More...

void	setToNaN () override
	Set all data fields to quiet NaN. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Methods common to all 2D or 3D points
void	AddComponents (const OTHERCLASS &b)
	Scalar addition of all coordinates. More...

void	operator*= (const double s)
	Scalar multiplication. More...

void	getAsVector (mrpt::math::CVectorDouble &v) const
	Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. More...

mrpt::math::CVectorDouble	getAsVector () const

void	getHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

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...

const double &	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
mrpt::math::CArrayDouble< 3 >	m_coords
	[x,y,z] More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPoint3D >

using	ConstPtr = std::shared_ptr< const CPoint3D >

using	UniquePtr = std::unique_ptr< CPoint3D >

using	ConstUniquePtr = std::unique_ptr< const CPoint3D >

static mrpt::rtti::CLASSINIT	_init_CPoint3D

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPoint3D"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

STL-like methods and typedefs

enum	{ static_size = 3 }

using	value_type = double
	The type of the elements. More...

using	reference = double &

using	const_reference = const double &

using	size_type = std::size_t

using	difference_type = std::ptrdiff_t

static constexpr size_type	size ()

static constexpr bool	empty ()

static constexpr size_type	max_size ()

static void	resize (const size_t n)

static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise. More...

double	x () const
	Common members of all points & poses classes. More...

double &	x ()

void	x (const double v)

double	y () const

double &	y ()

void	y (const double v)

void	x_incr (const double v)

void	y_incr (const double v)

double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the Euclidean distance to another pose/point: More...

double	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance to a 3D point: More...

double	distance2DToSquare (double ax, double ay) const
	Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DToSquare (double ax, double ay, double az) const
	Returns the squared 3D distance from this pose/point to a 3D point. More...

double	distance2DTo (double ax, double ay) const
	Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DTo (double ax, double ay, double az) const
	Returns the 3D distance from this pose/point to a 3D point. More...

double	norm () const
	Returns the euclidean norm of vector: $\|\|\mathbf{x}\|\| = \sqrt{x^2+y^2+z^2}$ . More...

mrpt::math::CVectorDouble	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

MATRIX44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

MATRIX44	getInverseHomogeneousMatrixVal () const

Member Typedef Documentation

◆ const_reference

using mrpt::poses::CPoint3D::const_reference = const double&

Definition at line 100 of file CPoint3D.h.

◆ ConstPtr

using mrpt::poses::CPoint3D::ConstPtr = std::shared_ptr<const CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ ConstUniquePtr

using mrpt::poses::CPoint3D::ConstUniquePtr = std::unique_ptr<const CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ difference_type

using mrpt::poses::CPoint3D::difference_type = std::ptrdiff_t

Definition at line 102 of file CPoint3D.h.

◆ Ptr

using mrpt::poses::CPoint3D::Ptr = std::shared_ptr< CPoint3D >

A type for the associated smart pointer

Definition at line 34 of file CPoint3D.h.

◆ reference

using mrpt::poses::CPoint3D::reference = double&

Definition at line 99 of file CPoint3D.h.

◆ size_type

using mrpt::poses::CPoint3D::size_type = std::size_t

Definition at line 101 of file CPoint3D.h.

◆ UniquePtr

using mrpt::poses::CPoint3D::UniquePtr = std::unique_ptr< CPoint3D >

Definition at line 34 of file CPoint3D.h.

◆ value_type

using mrpt::poses::CPoint3D::value_type = double

The type of the elements.

Definition at line 98 of file CPoint3D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 85 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 90 of file CPoint3D.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 105 of file CPoint3D.h.

Constructor & Destructor Documentation

◆ CPoint3D() [1/6]

mrpt::poses::CPoint3D::CPoint3D	(	const double	x = `0`,
		const double	y = `0`,
		const double	z = `0`
	)

inline

Constructor for initializing point coordinates.

Definition at line 42 of file CPoint3D.h.

References m_coords, mrpt::poses::CPoseOrPoint< CPoint3D >::x(), and mrpt::poses::CPoseOrPoint< CPoint3D >::y().

◆ CPoint3D() [2/6]

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

inlineexplicit

Constructor from a XYZ 3-vector.

Definition at line 50 of file CPoint3D.h.

◆ CPoint3D() [3/6]

CPoint3D::CPoint3D ( const CPoint2D & p )

explicit

Constructor from an CPoint2D object.

Definition at line 27 of file CPoint3D.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x().

◆ CPoint3D() [4/6]

CPoint3D::CPoint3D ( const CPose3D & p )

explicit

Constructor from an CPose3D object.

Definition at line 42 of file CPoint3D.cpp.

◆ CPoint3D() [5/6]

CPoint3D::CPoint3D ( const CPose2D & p )

explicit

Constructor from an CPose2D object.

Definition at line 34 of file CPoint3D.cpp.

◆ CPoint3D() [6/6]

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

inlineexplicit

Constructor from lightweight object.

Definition at line 65 of file CPoint3D.h.

References m_coords.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint3D::_GetBaseClass ( )

staticprotected

◆ AddComponents()

void mrpt::poses::CPoint< CPoint3D >::AddComponents ( const OTHERCLASS & b )

inlineinherited

Scalar addition of all coordinates.

This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose"

Definition at line 42 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::derived(), min, and static_size.

◆ asString() [1/2]

void mrpt::poses::CPoint< CPoint3D >::asString ( std::string & s ) const

inlineinherited

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

See also: fromString

Definition at line 93 of file CPoint.h.

References mrpt::format(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ asString() [2/2]

std::string mrpt::poses::CPoint< CPoint3D >::asString ( ) const

inlineinherited

Definition at line 104 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::asString().

◆ asTPoint()

mrpt::math::TPoint3D CPoint3D::asTPoint ( ) const

Definition at line 140 of file CPoint3D.cpp.

Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), and mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoint3D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPoint3D::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPoint3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPoint3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DTo	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 234 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare().

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DToSquare	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 218 of file CPoseOrPoint.h.

References mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 240 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare().

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the squared 3D distance from this pose/point to a 3D point.

Definition at line 225 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 211 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 246 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo().

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

static constexpr bool mrpt::poses::CPoint3D::empty ( )

inlinestatic

Definition at line 110 of file CPoint3D.h.

◆ fromString()

void mrpt::poses::CPoint< CPoint3D >::fromString ( const std::string & s )

inlineinherited

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 116 of file CPoint.h.

References ASSERT_EQUAL_, mrpt::poses::CPoint< DERIVEDCLASS >::derived(), static_size, and THROW_EXCEPTION.

◆ getAsVector() [1/2]

void mrpt::poses::CPoint< CPoint3D >::getAsVector ( mrpt::math::CVectorDouble & v ) const

inlineinherited

Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].

Definition at line 60 of file CPoint.h.

References static_size.

◆ getAsVector() [2/2]

mrpt::math::CVectorDouble mrpt::poses::CPoint< CPoint3D >::getAsVector ( ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 67 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector().

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPoint3D >::getAsVectorVal ( ) const

inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 263 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ getClassName()

static constexpr auto mrpt::poses::CPoint3D::getClassName ( )

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ getHomogeneousMatrix()

void mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix ( MATRIX44 & out_HM ) const

inlineinherited

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix

Definition at line 79 of file CPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D >::getHomogeneousMatrixVal ( ) const

inlineinherited

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix

Definition at line 275 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ getInverseHomogeneousMatrix()

void mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix ( MATRIX44 & out_HM ) const

inlineinherited

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also: getHomogeneousMatrix

Definition at line 287 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived(), and mrpt::math::homogeneousMatrixInverse().

◆ getInverseHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrixVal ( ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 295 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPoint3D::GetRuntimeClassIdStatic ( )

static

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPoint3D >::is3DPoseOrPoint ( )

inlinestaticinherited

Return true for poses or points with a Z component, false otherwise.

Definition at line 177 of file CPoseOrPoint.h.

◆ is_3D()

static constexpr bool mrpt::poses::CPoint3D::is_3D ( )

inlinestatic

Definition at line 89 of file CPoint3D.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPoint3D::is_PDF ( )

inlinestatic

Definition at line 94 of file CPoint3D.h.

References is_PDF_val.

◆ max_size()

static constexpr size_type mrpt::poses::CPoint3D::max_size ( )

inlinestatic

Definition at line 111 of file CPoint3D.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPoint3D >::norm ( ) const

inlineinherited

Returns the euclidean norm of vector: $||\mathbf{x}|| = \sqrt{x^2+y^2+z^2}$ .

Definition at line 253 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ operator delete() [1/3]

void mrpt::poses::CPoint3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CPoint3D.h.

◆ operator delete() [2/3]

void mrpt::poses::CPoint3D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 34 of file CPoint3D.h.

◆ operator delete() [3/3]

void mrpt::poses::CPoint3D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 34 of file CPoint3D.h.

◆ operator delete[]()

void mrpt::poses::CPoint3D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 34 of file CPoint3D.h.

◆ operator new() [1/3]

void* mrpt::poses::CPoint3D::operator new ( size_t size )

inline

Definition at line 34 of file CPoint3D.h.

◆ operator new() [2/3]

void* mrpt::poses::CPoint3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CPoint3D.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPoint3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 34 of file CPoint3D.h.

◆ operator new[]()

void* mrpt::poses::CPoint3D::operator new[] ( size_t size )

inline

Definition at line 34 of file CPoint3D.h.

◆ operator*=()

void mrpt::poses::CPoint< CPoint3D >::operator*= ( const double s )

inlineinherited

Scalar multiplication.

Definition at line 53 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::derived(), and static_size.

◆ operator+() [1/2]

CPoint3D CPoint3D::operator+ ( const CPoint3D & b ) const

Returns this point plus point "b", i.e.

result = this + b

Definition at line 117 of file CPoint3D.cpp.

◆ operator+() [2/2]

CPose3D CPoint3D::operator+ ( const CPose3D & b ) const

Returns this point plus pose "b", i.e.

result = this + b

Definition at line 127 of file CPoint3D.cpp.

◆ operator-() [1/2]

CPoint3D CPoint3D::operator- ( const CPose3D & b ) const

Returns this point as seen from "b", i.e.

result = this - b

Definition at line 83 of file CPoint3D.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [2/2]

CPoint3D CPoint3D::operator- ( const CPoint3D & b ) const

Returns this point minus point "b", i.e.

result = this - b

Definition at line 107 of file CPoint3D.cpp.

◆ operator[]() [1/2]

const double& mrpt::poses::CPoint< CPoint3D >::operator[] ( unsigned int i ) const

inlineinherited

Definition at line 127 of file CPoint.h.

◆ operator[]() [2/2]

double& mrpt::poses::CPoint< CPoint3D >::operator[] ( unsigned int i )

inlineinherited

Definition at line 131 of file CPoint.h.

References mrpt::poses::CPoint< DERIVEDCLASS >::derived().

◆ resize()

static void mrpt::poses::CPoint3D::resize ( const size_t n )

inlinestatic

Definition at line 112 of file CPoint3D.h.

References mrpt::format(), and static_size.

◆ serializeFrom()

void CPoint3D::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file CPoint3D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPoint3D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 49 of file CPoint3D.cpp.

◆ serializeTo()

void CPoint3D::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 50 of file CPoint3D.cpp.

◆ setToNaN()

void CPoint3D::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPoint3D >.

Definition at line 134 of file CPoint3D.cpp.

◆ size()

static constexpr size_type mrpt::poses::CPoint3D::size ( )

inlinestatic

Definition at line 109 of file CPoint3D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 184 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 68 of file CSerializable.h.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPoint3D >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 140 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

Referenced by CPoint3D().

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPoint3D >::x ( )

inlineinherited

Definition at line 149 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 158 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 167 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPoint3D >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 144 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

Referenced by CPoint3D().

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPoint3D >::y ( )

inlineinherited

Definition at line 153 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPoint3D >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 162 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPoint3D >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 171 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived().

Member Data Documentation

◆ _init_CPoint3D

mrpt::rtti::CLASSINIT mrpt::poses::CPoint3D::_init_CPoint3D

staticprotected

Definition at line 34 of file CPoint3D.h.

◆ className

constexpr const char* mrpt::poses::CPoint3D::className = "CPoint3D"

static

Definition at line 34 of file CPoint3D.h.

◆ m_coords

mrpt::math::CArrayDouble<3> mrpt::poses::CPoint3D::m_coords

[x,y,z]

Definition at line 38 of file CPoint3D.h.

Referenced by CPoint3D(), mrpt::poses::CPose3DRotVec::operator+(), and mrpt::poses::CPose3DRotVec::toQuatXYZ().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoint3D::runtimeClassId

staticprotected

Definition at line 34 of file CPoint3D.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ UniquePtr

◆ value_type

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPoint3D() [1/6]

◆ CPoint3D() [2/6]

◆ CPoint3D() [3/6]

◆ CPoint3D() [4/6]

◆ CPoint3D() [5/6]

◆ CPoint3D() [6/6]

Member Function Documentation

◆ _GetBaseClass()

◆ AddComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ asTPoint()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ fromString()

◆ getAsVector() [1/2]

◆ getAsVector() [2/2]

◆ getAsVectorVal()

◆ getClassName()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ max_size()

◆ norm()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ serializeFrom()