template class mrpt::poses::CPoint
Overview
A base class for representing a point in 2D or 3D.
For more information refer to the 2D/3D Geometry tutorial online. This class is based on the CRTP design pattern
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#include <mrpt/poses/CPoint.h> template <class DERIVEDCLASS, std::size_t DIM> class CPoint: public mrpt::poses::CPoseOrPoint, public mrpt::Stringifyable { public: // typedefs typedef mrpt::math::CVectorFixedDouble<DIM> vector_t; // methods 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(); }; // direct descendants class CPoint2D; class CPoint3D;
Inherited Members
public: // 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();
Typedefs
typedef mrpt::math::CVectorFixedDouble<DIM> vector_t
Fixed-size vector of the correct size to hold all the coordinates of the point/pose.
Methods
template <class OTHERCLASS> void AddComponents(const OTHERCLASS& b)
Scalar addition of all coordinates.
This is different from poses/point composition, which is implemented as “+” operators in classes derived from “CPose”
void operator *= (const double s)
Scalar multiplication.
template <class MATRIX44> void getHomogeneousMatrix(MATRIX44& out_HM) const
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
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virtual std::string asString() const
Returns a human-readable textual representation of the object (eg: “[0.02 1.04]” )
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void fromString(const std::string& s)
Set the current object value from a string generated by ‘asString’ (eg: “[0.02 1.04]” )
Parameters:
std::exception |
On invalid format |
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double x() const
Common members of all points & poses classes.
< Get X coord.
double y() const
< Get Y coord.
template <class OTHERCLASS, std::size_t DIM2> double sqrDistanceTo(const CPoseOrPoint<OTHERCLASS, DIM2>& b) const
Returns the squared euclidean distance to another pose/point:
template <class OTHERCLASS, std::size_t DIM2> double distanceTo(const CPoseOrPoint<OTHERCLASS, DIM2>& b) const
Returns the Euclidean distance to another pose/point:
double distanceTo(const mrpt::math::TPoint3D& b) const
Returns the euclidean distance to a 3D point:
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).
double distance3DToSquare(double ax, double ay, double az) const
Returns the squared 3D distance from this pose/point to a 3D point.
double distance2DTo(double ax, double ay) const
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
double distance3DTo(double ax, double ay, double az) const
Returns the 3D distance from this pose/point to a 3D point.
double norm() const
Returns the euclidean norm of vector:
vector_t asVectorVal() const
Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
template <class MATRIX44> MATRIX44 getHomogeneousMatrixVal() const
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
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template <class MATRIX44> void getInverseHomogeneousMatrix(MATRIX44& out_HM) const
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
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getHomogeneousMatrix
template <class MATRIX44> MATRIX44 getInverseHomogeneousMatrixVal() const
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
virtual void setToNaN() = 0
Set all data fields to quiet NaN.
static bool is3DPoseOrPoint()
Return true for poses or points with a Z component, false otherwise.