Lightweight 3D point.
Allows coordinate access using [] operator.
Definition at line 287 of file lightweight_geom_data.h.
#include <mrpt/math/lightweight_geom_data.h>
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. |
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 | ) |
mrpt::math::TPoint3D::TPoint3D | ( | const TPose2D & | p | ) | [explicit] |
mrpt::math::TPoint3D::TPoint3D | ( | const TPose3D & | p | ) | [explicit] |
mrpt::math::TPoint3D::TPoint3D | ( | const mrpt::poses::CPoint3D & | p | ) |
Implicit constructor from heavyweight type.
mrpt::math::TPoint3D::TPoint3D | ( | const mrpt::poses::CPose3D & | p | ) | [explicit] |
Constructor from heavyweight 3D pose.
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]" ).
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.
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]" ).
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] |
Points addition.
Definition at line 388 of file lightweight_geom_data.h.
References x, y, internal::y, and z.
Definition at line 370 of file lightweight_geom_data.h.
References x, y, internal::y, and z.
Points substraction.
Definition at line 394 of file lightweight_geom_data.h.
References x, y, internal::y, and z.
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.
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().
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