lightweight_geom_data.h File Reference

#include <mrpt/core/bits_math.h>
#include <mrpt/typemeta/TTypeName.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/math/lightweight_geom_data_frwds.h>
#include <mrpt/math/eigen_frwds.h>
#include <mrpt/math/wrap2pi.h>
#include <mrpt/core/format.h>
#include <mrpt/core/exceptions.h>
#include <vector>
#include <stdexcept>
#include <type_traits>
#include <mrpt/serialization/serialization_frwds.h>

Include dependency graph for lightweight_geom_data.h:

Go to the source code of this file.

Classes
struct	mrpt::math::TPoseOrPoint
	Base type of all TPoseXX and TPointXX classes in mrpt::math. More...
struct	mrpt::math::TPoint2D
	Lightweight 2D point. More...
struct	mrpt::math::TPose2D
	Lightweight 2D pose. More...
struct	mrpt::math::TPoint3Df
	Lightweight 3D point (float version). More...
struct	mrpt::math::TPoint3D
	Lightweight 3D point. More...
struct	mrpt::math::TPointXYZIu8
	XYZ point (double) + Intensity(u8) More...
struct	mrpt::math::TPointXYZRGBu8
	XYZ point (double) + RGB(u8) More...
struct	mrpt::math::TPointXYZfIu8
	XYZ point (float) + Intensity(u8) More...
struct	mrpt::math::TPointXYZfRGBu8
	XYZ point (float) + RGB(u8) More...
struct	mrpt::math::TPose3D
	Lightweight 3D pose (three spatial coordinates, plus three angular coordinates). More...
struct	mrpt::math::TPose3DQuat
	Lightweight 3D pose (three spatial coordinates, plus a quaternion ). More...
struct	mrpt::math::TSegment2D
	2D segment, consisting of two points. More...
struct	mrpt::math::TSegment3D
	3D segment, consisting of two points. More...
struct	mrpt::math::TLine2D
	2D line without bounds, represented by its equation . More...
struct	mrpt::math::TLine3D
	3D line, represented by a base point and a director vector. More...
struct	mrpt::math::TPlane
	3D Plane, represented by its equation More...
class	mrpt::math::TPolygon2D
	2D polygon, inheriting from std::vector<TPoint2D>. More...
class	mrpt::math::TPolygon3D
	3D polygon, inheriting from std::vector<TPoint3D> More...
struct	mrpt::math::TObject2D
	Standard type for storing any lightweight 2D type. More...
struct	mrpt::math::TObject2D::tobject2d_data_t
	Union type storing pointers to every allowed type. More...
struct	mrpt::math::TObject3D
	Standard object for storing any 3D lightweight object. More...
struct	mrpt::math::TObject3D::tobject3d_data_t
	Union containing pointer to actual data. More...
struct	mrpt::math::TTwist2D
	2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega) More...
struct	mrpt::math::TTwist3D
	3D twist: 3D velocity vector (vx,vy,vz) + angular velocity (wx,wy,wz) More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::math
	This base provides a set of functions for maths stuff.
	mrpt::typemeta

Typedefs
using	mrpt::math::TPlane3D = TPlane

Functions
TPose3D	mrpt::math::operator- (const TPose3D &p)
	Unary $\ominus$ operator: computes inverse SE(3) element. More...
TPose3D	mrpt::math::operator- (const TPose3D &b, const TPose3D &a)
	Binary $\ominus$ operator: $b \ominus a$ computes the relative SE(3) pose of b "as seen from" a More...
std::ostream &	mrpt::math::operator<< (std::ostream &o, const TPoint2D &p)
std::ostream &	mrpt::math::operator<< (std::ostream &o, const TPoint3D &p)
std::ostream &	mrpt::math::operator<< (std::ostream &o, const TPose2D &p)
std::ostream &	mrpt::math::operator<< (std::ostream &o, const TPose3D &p)
std::ostream &	mrpt::math::operator<< (std::ostream &o, const TPose3DQuat &p)
constexpr TPoint3D	mrpt::math::operator- (const TPoint3D &p1)
	Unary minus operator for 3D points. More...
constexpr bool	mrpt::math::operator== (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...
constexpr bool	mrpt::math::operator!= (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...
constexpr bool	mrpt::math::operator== (const TPoint3D &p1, const TPoint3D &p2)
	Exact comparison between 3D points. More...
constexpr bool	mrpt::math::operator!= (const TPoint3D &p1, const TPoint3D &p2)
	Exact comparison between 3D points. More...
bool	mrpt::math::operator== (const TPose2D &p1, const TPose2D &p2)
	Exact comparison between 2D poses, taking possible cycles into account. More...
bool	mrpt::math::operator!= (const TPose2D &p1, const TPose2D &p2)
	Exact comparison between 2D poses, taking possible cycles into account. More...
bool	mrpt::math::operator== (const TPose3D &p1, const TPose3D &p2)
	Exact comparison between 3D poses, taking possible cycles into account. More...
bool	mrpt::math::operator!= (const TPose3D &p1, const TPose3D &p2)
	Exact comparison between 3D poses, taking possible cycles into account. More...
bool	mrpt::math::operator== (const TSegment2D &s1, const TSegment2D &s2)
bool	mrpt::math::operator!= (const TSegment2D &s1, const TSegment2D &s2)
bool	mrpt::math::operator== (const TSegment3D &s1, const TSegment3D &s2)
bool	mrpt::math::operator!= (const TSegment3D &s1, const TSegment3D &s2)
template<class PoseOrPoint , typename = std::enable_if_t<std::is_base_of< mrpt::math::TPoseOrPoint, PoseOrPoint>::value>>
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, PoseOrPoint &o)
template<class PoseOrPoint , typename = std::enable_if_t<std::is_base_of< mrpt::math::TPoseOrPoint, PoseOrPoint>::value>>
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const PoseOrPoint &o)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TSegment2D &s)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TSegment2D &s)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TLine2D &l)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TLine2D &l)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TObject2D &o)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TObject2D &o)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TSegment3D &s)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TSegment3D &s)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TLine3D &l)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TLine3D &l)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TPlane &p)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TPlane &p)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TObject3D &o)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TObject3D &o)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TTwist2D &o)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TTwist2D &o)
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, mrpt::math::TTwist3D &o)
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TTwist3D &o)

Variables
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_POINT = 0
	Object type identifier for TPoint2D or TPoint3D. More...
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_SEGMENT = 1
	Object type identifier for TSegment2D or TSegment3D. More...
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_LINE = 2
	Object type identifier for TLine2D or TLine3D. More...
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_POLYGON = 3
	Object type identifier for TPolygon2D or TPolygon3D. More...
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_PLANE = 4
	Object type identifier for TPlane. More...
static constexpr unsigned char	mrpt::math::GEOMETRIC_TYPE_UNDEFINED = 255
	Object type identifier for empty TObject2D or TObject3D. More...