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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.
TPoint3Doperator*= (const double f)
 Point scale.
void getAsVector (vector_double &v) const
 Transformation into vector.
TPoint3Doperator+= (const TPoint3D &p)
 Translation.
TPoint3Doperator-= (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




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