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mrpt::poses::CPoint< DERIVEDCLASS > Class Template Referenceabstract
2D/3D points and poses

Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPoint< DERIVEDCLASS >

A base class for representing a point in 2D or 3D.

For more information refer to the 2D/3D Geometry tutorial online.

Note
This class is based on the CRTP design pattern
See also
CPoseOrPoint, CPose

Definition at line 27 of file CPoint.h.

#include <mrpt/poses/CPoint.h>

Inheritance diagram for mrpt::poses::CPoint< DERIVEDCLASS >:
Inheritance graph

Public Member Functions

Methods common to all 2D or 3D points
template<class OTHERCLASS >
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
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
template<class MATRIX44 >
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)
 

Private Member Functions

DERIVEDCLASS & derived ()
 
const DERIVEDCLASS & derived () const
 
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)
 
template<class OTHERCLASS >
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
template<class OTHERCLASS >
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...
 
template<class MATRIX44 >
MATRIX44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
template<class MATRIX44 >
void getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...
 
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. More...
 
virtual void setToNaN ()=0
 Set all data fields to quiet NaN. More...
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise. More...
 

Member Function Documentation

◆ AddComponents()

template<class DERIVEDCLASS >
template<class OTHERCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS >::AddComponents ( const OTHERCLASS &  b)
inline

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 44 of file CPoint.h.

◆ asString() [1/2]

template<class DERIVEDCLASS >
std::string mrpt::poses::CPoint< DERIVEDCLASS >::asString ( ) const
inline

Definition at line 106 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString().

◆ asString() [2/2]

template<class DERIVEDCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS >::asString ( std::string &  s) const
inline

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

See also
fromString

Definition at line 95 of file CPoint.h.

◆ derived() [1/2]

template<class DERIVEDCLASS >
DERIVEDCLASS& mrpt::poses::CPoint< DERIVEDCLASS >::derived ( )
inlineprivate

Definition at line 29 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::AddComponents(), mrpt::poses::CPoint< CPoint3D >::fromString(), mrpt::poses::CPoint< CPoint3D >::operator*=(), and mrpt::poses::CPoint< CPoint3D >::operator[]().

◆ derived() [2/2]

template<class DERIVEDCLASS >
const DERIVEDCLASS& mrpt::poses::CPoint< DERIVEDCLASS >::derived ( ) const
inlineprivate

Definition at line 30 of file CPoint.h.

◆ distance2DTo()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

◆ distance2DToSquare()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DTo().

◆ distance3DTo()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ distance3DToSquare()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DTo().

◆ distanceTo() [1/2]

template<class DERIVEDCLASS >
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 211 of file CPoseOrPoint.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), ransac_data_assoc_run(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood(), mrpt::maps::CBeaconMap::simulateBeaconReadings(), and mrpt::maps::CLandmarksMap::simulateBeaconReadings().

◆ distanceTo() [2/2]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const mrpt::math::TPoint3D &  b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 246 of file CPoseOrPoint.h.

◆ fromString()

template<class DERIVEDCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS >::fromString ( const std::string &  s)
inline

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

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 118 of file CPoint.h.

◆ getAsVector() [1/2]

template<class DERIVEDCLASS >
mrpt::math::CVectorDouble mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector ( ) const
inline

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 69 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::getAsVector().

◆ getAsVector() [2/2]

template<class DERIVEDCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector ( mrpt::math::CVectorDouble &  v) const
inline

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

Definition at line 62 of file CPoint.h.

◆ getAsVectorVal()

template<class DERIVEDCLASS >
mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), Pose3DQuatTests::test_compose(), Pose3DTests::test_compose(), Pose3DRotVecTests::test_compose(), Pose3DTests::test_composeFrom(), Pose3DQuatTests::test_composePoint(), Pose3DTests::test_composePoint(), Pose3DRotVecTests::test_conversions(), Pose3DTests::test_ExpLnEqual(), TEST_F(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DQuatTests::test_invComposePoint(), Pose3DTests::test_inverse(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ getHomogeneousMatrix()

template<class DERIVEDCLASS >
template<class MATRIX44 >
void mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix ( MATRIX44 &  out_HM) const
inline

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

See also
getInverseHomogeneousMatrix

Definition at line 81 of file CPoint.h.

◆ getHomogeneousMatrixVal()

template<class DERIVEDCLASS >
template<class MATRIX44 >
MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::obs::CObservation3DRangeScan::getDescriptionAsText(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), Pose3DTests::test_compose(), Pose3DRotVecTests::test_compose(), Pose3DQuatTests::test_copy(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DTests::test_inverse(), and Pose3DQuatTests::test_unaryInverse().

◆ getInverseHomogeneousMatrix()

template<class DERIVEDCLASS >
template<class MATRIX44 >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrixVal(), mrpt::poses::CPose3DRotVec::inverseComposeFrom(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and Pose3DTests::test_inverse().

◆ getInverseHomogeneousMatrixVal()

template<class DERIVEDCLASS >
template<class MATRIX44 >
MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS >
static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 177 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< CPoint3D >::norm(), and mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo().

◆ norm()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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.

Referenced by mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::TDist::updateDistances().

◆ operator*=()

template<class DERIVEDCLASS >
void mrpt::poses::CPoint< DERIVEDCLASS >::operator*= ( const double  s)
inline

Scalar multiplication.

Definition at line 55 of file CPoint.h.

◆ operator[]() [1/2]

template<class DERIVEDCLASS >
double& mrpt::poses::CPoint< DERIVEDCLASS >::operator[] ( unsigned int  i)
inline

Definition at line 133 of file CPoint.h.

◆ operator[]() [2/2]

template<class DERIVEDCLASS >
const double& mrpt::poses::CPoint< DERIVEDCLASS >::operator[] ( unsigned int  i) const
inline

Definition at line 129 of file CPoint.h.

◆ setToNaN()

template<class DERIVEDCLASS >
virtual void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::setToNaN ( )
pure virtualinherited

Set all data fields to quiet NaN.

Implemented in mrpt::poses::CPose3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::poses::CPose2D, mrpt::poses::CPoint3D, and mrpt::poses::CPoint2D.

◆ sqrDistanceTo()

template<class DERIVEDCLASS >
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 184 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo().

◆ x() [1/3]

template<class DERIVEDCLASS >
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( )
inlineinherited

Definition at line 149 of file CPoseOrPoint.h.

◆ x() [2/3]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 140 of file CPoseOrPoint.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CBeaconMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::CPose2D::CPose2D(), mrpt::poses::CPose3DRotVec::CPose3DRotVec(), mrpt::hwdrivers::CIbeoLuxETH::dataCollection(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >::drawEdgeRelPoses(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >::drawEdges(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPoint2DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPointPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPose3D::exp(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian(), mrpt::vision::frameJac(), Pose3DQuatTests::func_inv_compose_point(), Pose3DTests::func_inv_compose_point(), func_laserSimul_callback(), mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), mrpt::maps::CBeacon::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::maps::CBeacon::getAsMatlabDrawCommands(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmark::getPose(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), jacob_dA_eps_D_p_deps(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceToPoint(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::poses::CPoseOrPoint< CPoint3D >::norm(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnInverseObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPose2D::operator+(), mrpt::poses::operator+(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), ransac_data_assoc_run(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::poses::CPoint2DPDFGaussian::saveToTextFile(), mrpt::poses::CPointPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), mrpt::poses::CPosePDFGaussianInf::serializeTo(), mrpt::opengl::CRenderizable::setLocation(), mrpt::maps::CLandmark::setPose(), mrpt::opengl::CRenderizable::setPose(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::vision::StereoObs2BRObs(), TEST(), Pose3DTests::test_composePoint(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::opengl::CSphere::traceRay(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ x() [3/3]

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 158 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 167 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CBeaconMap::internal_insertObservation(), and TEST().

◆ y() [1/3]

template<class DERIVEDCLASS >
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( )
inlineinherited

Definition at line 153 of file CPoseOrPoint.h.

◆ y() [2/3]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 144 of file CPoseOrPoint.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::poses::CPoint< CPoint3D >::asString(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CBeaconMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::vision::computeMsd(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose2D::CPose2D(), mrpt::poses::CPose3DRotVec::CPose3DRotVec(), mrpt::hwdrivers::CIbeoLuxETH::dataCollection(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >::drawEdgeRelPoses(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >::drawEdges(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPoint2DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPointPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPose3D::exp(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian(), mrpt::vision::frameJac(), Pose3DQuatTests::func_inv_compose_point(), Pose3DTests::func_inv_compose_point(), func_laserSimul_callback(), mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), mrpt::maps::CBeacon::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::maps::CBeacon::getAsMatlabDrawCommands(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmark::getPose(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), jacob_dA_eps_D_p_deps(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceToPoint(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::poses::CPoseOrPoint< CPoint3D >::norm(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnInverseObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPose2D::operator+(), mrpt::poses::operator+(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), ransac_data_assoc_run(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::poses::CPoint2DPDFGaussian::saveToTextFile(), mrpt::poses::CPointPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), mrpt::poses::CPosePDFGaussianInf::serializeTo(), mrpt::opengl::CRenderizable::setLocation(), mrpt::maps::CLandmark::setPose(), mrpt::opengl::CRenderizable::setPose(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), Pose3DTests::test_composePoint(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::opengl::CSphere::traceRay(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ y() [3/3]

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 162 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 171 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::maps::CBeaconMap::internal_insertObservation().



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