mrpt::math::TPoint3D Struct Reference

Lightweight 3D point. More...

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

Public Member Functions
	TPoint3D (const TPoint2D &p)
	Implicit constructor from TPoint2D.
	TPoint3D (const TPose2D &p)
	Constructor from TPose2D, losing information.
	TPoint3D (const TPose3D &p)
	Constructor from TPose3D, losing information.
	TPoint3D (const mrpt::poses::CPoint3D &p)
	Implicit constructor from heavyweight type.
	TPoint3D (const mrpt::poses::CPose3D &p)
	Constructor from heavyweight 3D pose.
	TPoint3D (double xx, double yy, double zz)
	Constructor from coordinates.
	TPoint3D ()
	Default fast constructor.
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[].
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[].
double	distanceTo (const TPoint3D &p) const
	Point-to-point distance.
double	sqrDistanceTo (const TPoint3D &p) const
	Point-to-point distance, squared.
double	norm () const
	Point norm.
void	operator*= (const double f)
	Point scale.
void	getAsVector (vector_double &v) const
	Transformation into vector.
const TPoint3D &	operator+= (const TPoint3D &p)
	Translation.
const TPoint3D &	operator-= (const TPoint3D &p)
	Difference between points.
TPoint3D	operator+ (const TPoint3D &p)
	Point sum.
TPoint3D	operator- (const TPoint3D &p)
	Poinst substraction.
Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	z
	Z coordinate.

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Detailed Description

Lightweight 3D point.

Allows coordinate access using [] operator.

See also:

mrpt::poses::TPoint3D

Definition at line 196 of file lightweight_geom_data.h.

---

Constructor & Destructor Documentation

mrpt::math::TPoint3D::TPoint3D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes the z.

See also:

TPoint2D

mrpt::math::TPoint3D::TPoint3D

(

const TPose2D &

p

)

[explicit]

Constructor from TPose2D, losing information.

Zeroes the z.

See also:

TPose2D

mrpt::math::TPoint3D::TPoint3D

(

const TPose3D &

p

)

[explicit]

Constructor from TPose3D, losing information.

See also:

TPose3D

mrpt::math::TPoint3D::TPoint3D

(

const mrpt::poses::CPoint3D &

p

)

Implicit constructor from heavyweight type.

See also:

mrpt::poses::CPoint3D

mrpt::math::TPoint3D::TPoint3D

(

const mrpt::poses::CPose3D &

p

)

[explicit]

Constructor from heavyweight 3D pose.

See also:

mrpt::poses::CPose3D.

mrpt::math::TPoint3D::TPoint3D	(	double	xx,
		double	yy,
		double	zz
	)			[inline]

Constructor from coordinates.

Definition at line 237 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 241 of file lightweight_geom_data.h.

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Member Function Documentation

double mrpt::math::TPoint3D::distanceTo

(

const TPoint3D &

p

)

const [inline]

Point-to-point distance.

Definition at line 257 of file lightweight_geom_data.h.

References mrpt::utils::square(), x, y, and z.

void mrpt::math::TPoint3D::getAsVector

(

vector_double &

v

)

const [inline]

Transformation into vector.

Definition at line 281 of file lightweight_geom_data.h.

double mrpt::math::TPoint3D::norm

(

)

const [inline]

Point norm.

Definition at line 269 of file lightweight_geom_data.h.

References mrpt::utils::square().

void mrpt::math::TPoint3D::operator*=

(

const double

f

)

[inline]

Point scale.

Definition at line 275 of file lightweight_geom_data.h.

TPoint3D mrpt::math::TPoint3D::operator+

(

const TPoint3D &

p

)

[inline]

Point sum.

Definition at line 306 of file lightweight_geom_data.h.

References x, y, and z.

const TPoint3D& mrpt::math::TPoint3D::operator+=

(

const TPoint3D &

p

)

[inline]

Translation.

Definition at line 288 of file lightweight_geom_data.h.

References x, y, and z.

TPoint3D mrpt::math::TPoint3D::operator-

(

const TPoint3D &

p

)

[inline]

Poinst substraction.

Definition at line 312 of file lightweight_geom_data.h.

References x, y, and z.

const TPoint3D& mrpt::math::TPoint3D::operator-=

(

const TPoint3D &

p

)

[inline]

Difference between points.

Definition at line 297 of file lightweight_geom_data.h.

References x, y, and z.

const double& mrpt::math::TPoint3D::operator[]

(

size_t

i

)

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 251 of file lightweight_geom_data.h.

double& mrpt::math::TPoint3D::operator[]

(

size_t

i

)

[inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 245 of file lightweight_geom_data.h.

double mrpt::math::TPoint3D::sqrDistanceTo

(

const TPoint3D &

p

)

const [inline]

Point-to-point distance, squared.

Definition at line 263 of file lightweight_geom_data.h.

References mrpt::utils::square(), x, y, and z.

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Member Data Documentation

double mrpt::math::TPoint3D::x

X coordinate.

Definition at line 200 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint::distanceTo(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CSimplePointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::slam::CPointsMap::kdTreeClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), mrpt::math::operator+(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::opengl::CRenderizable::setLocation(), and sqrDistanceTo().

double mrpt::math::TPoint3D::y

Y coordinate.

Definition at line 204 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint::distanceTo(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CSimplePointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::slam::CPointsMap::kdTreeClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), mrpt::math::operator+(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::opengl::CRenderizable::setLocation(), and sqrDistanceTo().

double mrpt::math::TPoint3D::z

Z coordinate.

Definition at line 208 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint::distanceTo(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CSimplePointsMap::insertPoint(), mrpt::slam::CPointsMap::insertPoint(), mrpt::slam::CPointsMap::kdTreeClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3D(), mrpt::slam::CPointsMap::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), mrpt::math::operator+(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::opengl::CRenderizable::setLocation(), and sqrDistanceTo().