mrpt::poses::CPoint< DERIVEDCLASS > Class Template Reference

---

Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPoint< DERIVEDCLASS >

A base class for representing a point in 2D or 3D.

For more information refer to the 2D/3D Geometry tutorial online.

Note:

This class is based on the CRTP design pattern

See also:

CPoseOrPoint, CPose

Definition at line 43 of file CPoint.h.

#include <mrpt/poses/CPoint.h>

Inheritance diagram for mrpt::poses::CPoint< DERIVEDCLASS >:

List of all members.

Public Member Functions
Methods common to all 2D or 3D points
template<class OTHERCLASS >
void	AddComponents (const OTHERCLASS &b)
	Scalar addition of all coordinates.
void	operator*= (const double s)
	Scalar multiplication.
void	getAsVector (vector_double &v) const
	Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].
vector_double	getAsVector () const
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]" )
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]" )
const double &	operator[] (unsigned int i) const
double &	operator[] (unsigned int i)

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Member Function Documentation

template<class DERIVEDCLASS>

template<class OTHERCLASS >

void mrpt::poses::CPoint< DERIVEDCLASS >::AddComponents

(

const OTHERCLASS &

b

)

[inline]

Scalar addition of all coordinates.

This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose"

Definition at line 53 of file CPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoint< DERIVEDCLASS >::asString

(

std::string &

s

)

const [inline]

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

See also:

fromString

Definition at line 92 of file CPoint.h.

template<class DERIVEDCLASS>

std::string mrpt::poses::CPoint< DERIVEDCLASS >::asString

(

)

const [inline]

Definition at line 98 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString().

template<class DERIVEDCLASS>

void mrpt::poses::CPoint< DERIVEDCLASS >::fromString

(

const std::string &

s

)

[inline]

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

See also:

asString

Exceptions:

std::exception

On invalid format

Definition at line 104 of file CPoint.h.

template<class DERIVEDCLASS>

vector_double mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector

(

)

const [inline]

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 75 of file CPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::getAsVector().

template<class DERIVEDCLASS>

void mrpt::poses::CPoint< DERIVEDCLASS >::getAsVector

(

vector_double &

v

)

const [inline]

Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z].

Definition at line 68 of file CPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix

(

CMatrixDouble44 &

out_HM

)

const [inline]

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

See also:

getInverseHomogeneousMatrix

Definition at line 80 of file CPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoint< DERIVEDCLASS >::operator*=

(

const double

s

)

[inline]

Scalar multiplication.

Definition at line 61 of file CPoint.h.

template<class DERIVEDCLASS>

const double& mrpt::poses::CPoint< DERIVEDCLASS >::operator[]

(

unsigned int

i

)

const [inline]

Definition at line 114 of file CPoint.h.

template<class DERIVEDCLASS>

double& mrpt::poses::CPoint< DERIVEDCLASS >::operator[]

(

unsigned int

i

)

[inline]

Definition at line 115 of file CPoint.h.