mrpt::math::TPoint3D Struct Reference

---

Detailed Description

Lightweight 3D point.

Allows coordinate access using [] operator.

See also:

mrpt::poses::CPoint3D, mrpt::math::TPoint3Df

Definition at line 287 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

Public Member Functions
	TPoint3D (double xx, double yy, double zz)
	Constructor from coordinates.
	TPoint3D ()
	Default fast constructor.
	TPoint3D (const TPoint3Df &p)
	Explicit constructor from coordinates.
	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.
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.
TPoint3D &	operator*= (const double f)
	Point scale.
void	getAsVector (vector_double &v) const
	Transformation into vector.
TPoint3D &	operator+= (const TPoint3D &p)
	Translation.
TPoint3D &	operator-= (const TPoint3D &p)
	Difference between points.
TPoint3D	operator+ (const TPoint3D &p) const
	Points addition.
TPoint3D	operator- (const TPoint3D &p) const
	Points substraction.
TPoint3D	operator* (double d) const
TPoint3D	operator/ (double d) const
bool	operator< (const TPoint3D &p) const
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )
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 -0.8]" )
Static Public Member Functions
static size_t	size ()
Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	z
	Z coordinate.

---

Constructor & Destructor Documentation

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

Constructor from coordinates.

Definition at line 293 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 295 of file lightweight_geom_data.h.

mrpt::math::TPoint3D::TPoint3D

(

const TPoint3Df &

p )

[inline, explicit]

Explicit constructor from coordinates.

Definition at line 297 of file lightweight_geom_data.h.

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.

---

Member Function Documentation

void mrpt::math::TPoint3D::asString

(

std::string &

s )

const [inline]

Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )

See also:

fromString

Definition at line 411 of file lightweight_geom_data.h.

References mrpt::format(), and internal::y.

std::string mrpt::math::TPoint3D::asString

(

)

const [inline]

Definition at line 412 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

double mrpt::math::TPoint3D::distanceTo

(

const TPoint3D &

p )

const [inline]

Point-to-point distance.

Definition at line 338 of file lightweight_geom_data.h.

References sqrt(), square(), x, internal::y, y, and z.

void mrpt::math::TPoint3D::fromString

(

const std::string &

s )

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See also:

asString

Exceptions:

std::exception

On invalid format

void mrpt::math::TPoint3D::getAsVector

(

vector_double &

v )

const [inline]

Transformation into vector.

Definition at line 363 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize(), and internal::y.

double mrpt::math::TPoint3D::norm

(

)

const [inline]

Point norm.

Definition at line 350 of file lightweight_geom_data.h.

References sqrt(), square(), and internal::y.

TPoint3D mrpt::math::TPoint3D::operator*

(

double

d )

const [inline]

Definition at line 398 of file lightweight_geom_data.h.

References internal::y.

TPoint3D& mrpt::math::TPoint3D::operator*=

(

const double

f )

[inline]

Point scale.

Definition at line 356 of file lightweight_geom_data.h.

References internal::y.

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

(

const TPoint3D &

p )

const [inline]

Points addition.

Definition at line 388 of file lightweight_geom_data.h.

References x, y, internal::y, and z.

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

(

const TPoint3D &

p )

[inline]

Translation.

Definition at line 370 of file lightweight_geom_data.h.

References x, y, internal::y, and z.

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

(

const TPoint3D &

p )

const [inline]

Points substraction.

Definition at line 394 of file lightweight_geom_data.h.

References x, y, internal::y, and z.

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

(

const TPoint3D &

p )

[inline]

Difference between points.

Definition at line 379 of file lightweight_geom_data.h.

References x, y, internal::y, and z.

TPoint3D mrpt::math::TPoint3D::operator/

(

double

d )

const [inline]

Definition at line 402 of file lightweight_geom_data.h.

References internal::y.

bool mrpt::math::TPoint3D::operator<

(

const TPoint3D &

p )

const

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

(

size_t

i )

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 332 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 326 of file lightweight_geom_data.h.

static size_t mrpt::math::TPoint3D::size

(

)

[inline, static]

Definition at line 419 of file lightweight_geom_data.h.

double mrpt::math::TPoint3D::sqrDistanceTo

(

const TPoint3D &

p )

const [inline]

Point-to-point distance, squared.

Definition at line 344 of file lightweight_geom_data.h.

References square(), x, internal::y, y, and z.

---

Member Data Documentation

double mrpt::math::TPoint3D::x

X coordinate.

Definition at line 288 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

double mrpt::math::TPoint3D::y

Y coordinate.

Definition at line 289 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().

double mrpt::math::TPoint3D::z

Z coordinate.

Definition at line 290 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CPointsMap::boundingBox(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::opengl::CPolyhedron::CreateCubicPrism(), distanceTo(), mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), mrpt::topography::GeodeticToUTM(), mrpt::math::TSegment3D::getCenter(), mrpt::slam::CPointsMap::insertPoint(), mrpt::math::KDTreeCapable::kdTreeClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D(), mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx(), mrpt::math::operator!=(), operator+(), operator+=(), mrpt::math::operator-(), operator-(), operator-=(), mrpt::math::operator==(), mrpt::math::project3D(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CCamera::setPointingAt(), sqrDistanceTo(), and mrpt::topography::UTMToGeodetic().