mrpt::poses::CPoint3D Class Reference

A class used to store a 3D point. More...

#include <mrpt/poses/CPoint3D.h>

Inheritance diagram for mrpt::poses::CPoint3D:

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Collaboration diagram for mrpt::poses::CPoint3D:

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List of all members.

Public Member Functions
	CPoint3D (const double x=0, const double y=0, const double z=0)
	Constructor for initializing point coordinates.
	CPoint3D (const CPoint2D &)
	Constructor from an CPoint2D object.
	CPoint3D (const CPose3D &)
	Constructor from an CPose3D object.
	CPoint3D (const CPose2D &)
	Constructor from an CPose2D object.
	CPoint3D (const mrpt::math::TPoint3D &)
	Constructor from lightweight object.
CPoint3D	operator- (const CPose3D &b) const
	Returns this point as seen from "b", i.e.
CPoint3D	operator- (const CPoint3D &b) const
	Returns this point minus point "b", i.e.
CPoint3D	operator+ (const CPoint3D &b) const
	Returns this point plus point "b", i.e.
CPose3D	operator+ (const CPose3D &b) const
	Returns this point plus pose "b", i.e.
void	getAsVector (vector_double &v) const
	Return the pose or point as a 1x3 vector: [x y z].
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" ).
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ).
double	operator[] (unsigned int i) const

---

Detailed Description

A class used to store a 3D point.

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

poses::CPoint3D
Homogeneous transfomation matrix	Spatial representation
1 0 0 x 0 1 0 y 0 0 1 z 0 0 0 1

See also:

CPoseOrPoint,CPose, CPoint

Definition at line 149 of file CPoint3D.h.

---

Constructor & Destructor Documentation

mrpt::poses::CPoint3D::CPoint3D	(	const double	x = 0,
		const double	y = 0,
		const double	z = 0
	)

Constructor for initializing point coordinates.

mrpt::poses::CPoint3D::CPoint3D

(

const CPoint2D &

)

Constructor from an CPoint2D object.

mrpt::poses::CPoint3D::CPoint3D

(

const CPose3D &

)

[explicit]

Constructor from an CPose3D object.

mrpt::poses::CPoint3D::CPoint3D

(

const CPose2D &

)

[explicit]

Constructor from an CPose2D object.

mrpt::poses::CPoint3D::CPoint3D

(

const mrpt::math::TPoint3D &

)

Constructor from lightweight object.

---

Member Function Documentation

void mrpt::poses::CPoint3D::asString

(

std::string &

s

)

const [inline, virtual]

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

See also:

fromString

Implements mrpt::poses::CPoseOrPoint.

Definition at line 208 of file CPoint3D.h.

References mrpt::format().

void mrpt::poses::CPoint3D::fromString

(

const std::string &

s

)

[inline, virtual]

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

Implements mrpt::poses::CPoseOrPoint.

Definition at line 214 of file CPoint3D.h.

References ASSERTMSG_, mrpt::math::CMatrixTemplate< T >::fromMatlabStringFormat(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::poses::CPoint3D::getAsVector

(

vector_double &

v

)

const [virtual]

Return the pose or point as a 1x3 vector: [x y z].

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPoint3D::getHomogeneousMatrix

(

CMatrixDouble44 &

out_HM

)

const [inline, virtual]

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

See also:

getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

Definition at line 197 of file CPoint3D.h.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::get_unsafe(), and mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::unit().

CPose3D mrpt::poses::CPoint3D::operator+

(

const CPose3D &

b

)

const

Returns this point plus pose "b", i.e.

result = this + b

CPoint3D mrpt::poses::CPoint3D::operator+

(

const CPoint3D &

b

)

const

Returns this point plus point "b", i.e.

result = this + b

CPoint3D mrpt::poses::CPoint3D::operator-

(

const CPoint3D &

b

)

const

Returns this point minus point "b", i.e.

result = this - b

CPoint3D mrpt::poses::CPoint3D::operator-

(

const CPose3D &

b

)

const

Returns this point as seen from "b", i.e.

result = this - b

double mrpt::poses::CPoint3D::operator[]

(

unsigned int

i

)

const [inline]

Definition at line 223 of file CPoint3D.h.