mrpt::poses::CPoint2D Class Reference

A class used to store a 2D point. More...

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:

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Collaboration diagram for mrpt::poses::CPoint2D:

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List of all members.

Public Member Functions
	CPoint2D (double x=0, double y=0)
	Constructor for initializing point coordinates.
	CPoint2D (const CPose2D &o)
	Constructor from x/y coordinates given from other pose.
	CPoint2D (const CPose3D &o)
	Constructor from x/y coordinates given from other pose.
	CPoint2D (const CPoint3D &o)
	Constructor from x/y coordinates given from a 3D point.
	CPoint2D (const mrpt::math::TPoint2D &o)
	Implicit constructor from lightweight type.
CPoint2D	operator- (const CPose2D &b) const
	The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).
void	getAsVector (vector_double &v) const
	Return the pose or point as a 1x2 vector: [x y].
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)
STL-like methods and typedefs
enum	{ static_size = 2 }
typedef double	value_type
	The type of the elements.
typedef double &	reference
typedef const double &	const_reference
typedef std::size_t	size_type
typedef std::ptrdiff_t	difference_type
static size_type	size ()
static bool	empty ()
static size_type	max_size ()
static void	resize (const size_t n)

---

Detailed Description

A class used to store a 2D point.

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

poses::CPoint2D
Homogeneous transfomation matrix	Spatial representation
1 0 0 x 0 1 0 y 0 0 1 0 0 0 0 1

See also:

CPoseOrPoint,CPose, CPoint

Definition at line 151 of file CPoint2D.h.

---

Member Typedef Documentation

typedef const double& mrpt::poses::CPoint2D::const_reference

Definition at line 238 of file CPoint2D.h.

typedef std::ptrdiff_t mrpt::poses::CPoint2D::difference_type

Definition at line 240 of file CPoint2D.h.

typedef double& mrpt::poses::CPoint2D::reference

Definition at line 237 of file CPoint2D.h.

typedef std::size_t mrpt::poses::CPoint2D::size_type

Definition at line 239 of file CPoint2D.h.

typedef double mrpt::poses::CPoint2D::value_type

The type of the elements.

Definition at line 236 of file CPoint2D.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

static_size

Definition at line 243 of file CPoint2D.h.

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Constructor & Destructor Documentation

mrpt::poses::CPoint2D::CPoint2D	(	double	x = 0,
		double	y = 0
	)

Constructor for initializing point coordinates.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose2D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose3D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

mrpt::poses::CPoint2D::CPoint2D

(

const CPoint3D &

o

)

[explicit]

Constructor from x/y coordinates given from a 3D point.

mrpt::poses::CPoint2D::CPoint2D

(

const mrpt::math::TPoint2D &

o

)

Implicit constructor from lightweight type.

---

Member Function Documentation

std::string mrpt::poses::CPoint2D::asString

(

)

const [inline]

Definition at line 199 of file CPoint2D.h.

References asString().

Referenced by asString().

void mrpt::poses::CPoint2D::asString

(

std::string &

s

)

const [inline, virtual]

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

See also:

fromString

Implements mrpt::poses::CPoseOrPoint.

Definition at line 198 of file CPoint2D.h.

References mrpt::format().

static bool mrpt::poses::CPoint2D::empty

(

)

[inline, static]

Definition at line 245 of file CPoint2D.h.

void mrpt::poses::CPoint2D::fromString

(

const std::string &

s

)

[inline, virtual]

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

Implements mrpt::poses::CPoseOrPoint.

Definition at line 205 of file CPoint2D.h.

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

void mrpt::poses::CPoint2D::getAsVector

(

vector_double &

v

)

const [virtual]

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

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPoint2D::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 188 of file CPoint2D.h.

static size_type mrpt::poses::CPoint2D::max_size

(

)

[inline, static]

Definition at line 246 of file CPoint2D.h.

CPoint2D mrpt::poses::CPoint2D::operator-

(

const CPose2D &

b

)

const

The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).

double& mrpt::poses::CPoint2D::operator[]

(

unsigned int

i

)

[inline]

Definition at line 223 of file CPoint2D.h.

const double& mrpt::poses::CPoint2D::operator[]

(

unsigned int

i

)

const [inline]

Definition at line 213 of file CPoint2D.h.

static void mrpt::poses::CPoint2D::resize

(

const size_t

n

)

[inline, static]

Definition at line 247 of file CPoint2D.h.

References mrpt::format().

static size_type mrpt::poses::CPoint2D::size

(

)

[inline, static]

Definition at line 244 of file CPoint2D.h.