mrpt::poses::CPoint2D Class Reference

A class used to store a 2D point. More...

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:

List of all members.

Public Member Functions
	CPoint2D (double x=0, double y=0)
	Constructor for initializing point coordinates.
	CPoint2D (const CPose2D &o)
	Constructor from x/y coordinates given from other pose.
	CPoint2D (const CPose3D &o)
	Constructor from x/y coordinates given from other pose.
CPoint2D	operator- (const CPose2D &b) const
	The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).
const math::CMatrixDouble &	getHomogeneousMatrix () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
void	getHomogeneousMatrix (const math::CMatrixDouble *&ptrHM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
Protected Attributes
math::CMatrixDouble	aux_HM

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Detailed Description

A class used to store a 2D point.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

poses::CPoint2D
Homogeneous transfomation matrix	Spatial representation
1 0 0 x 0 1 0 y 0 0 1 0 0 0 0 1

See also:

CPoseOrPoint,CPose, CPoint

Definition at line 150 of file CPoint2D.h.

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Constructor & Destructor Documentation

mrpt::poses::CPoint2D::CPoint2D	(	double	x = 0,
		double	y = 0
	)

Constructor for initializing point coordinates.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose2D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose3D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

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Member Function Documentation

void mrpt::poses::CPoint2D::getHomogeneousMatrix

(

const math::CMatrixDouble *&

ptrHM

)

const [virtual]

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

See also:

getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

const math::CMatrixDouble& mrpt::poses::CPoint2D::getHomogeneousMatrix

(

)

const [virtual]

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

See also:

getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

CPoint2D mrpt::poses::CPoint2D::operator-

(

const CPose2D &

b

)

const

The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).

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Member Data Documentation

math::CMatrixDouble mrpt::poses::CPoint2D::aux_HM [mutable, protected]

Definition at line 156 of file CPoint2D.h.