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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:
mrpt::poses::CPoint mrpt::poses::CPoseOrPoint mrpt::utils::CSerializable

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).

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

CPoint3D.gif
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::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




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