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<h1>lightweight_geom_data.h</h1><a href="lightweight__geom__data_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef LIGHTWEIGHT_GEOM_DATA_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define LIGHTWEIGHT_GEOM_DATA_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="math__frwds_8h.html">mrpt/math/math_frwds.h</a>></span> <span class="comment">// Fordward declarations</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>poses {
<a name="l00040"></a>00040 <span class="keyword">class </span>CPoseOrPoint;
<a name="l00041"></a>00041 <span class="keyword">class </span>CPoint2D;
<a name="l00042"></a>00042 <span class="keyword">class </span>CPoint3D;
<a name="l00043"></a>00043 <span class="keyword">class </span>CPose2D;
<a name="l00044"></a>00044 <span class="keyword">class </span>CPose3D;
<a name="l00045"></a>00045 }
<a name="l00046"></a>00046 <span class="keyword">namespace </span>utils { <span class="keyword">class </span><a class="code" href="namespacemrpt_1_1utils.html#a4aa6d0388c837d159ca801e48d601449">CStream</a>; }
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="keyword">namespace </span>mrpt {
<a name="l00050"></a>00050 <span class="keyword">namespace </span>math {
<a name="l00051"></a>00051 <span class="keyword">using namespace </span>mrpt::utils; <span class="comment">// For "square"</span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keyword">struct </span>TPoint2D;
<a name="l00054"></a>00054 <span class="keyword">struct </span>TPose2D;
<a name="l00055"></a>00055 <span class="keyword">struct </span>TPoint3D;
<a name="l00056"></a>00056 <span class="keyword">struct </span>TPose3D;
<a name="l00057"></a>00057 <span class="keyword">struct </span>TPose3DQuat;
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="comment">//Pragma defined to ensure no structure packing</span>
<a name="l00060"></a>00060 <span class="preprocessor">#pragma pack(push,1)</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span> <span class="comment">//Set of typedefs for lightweight geometric items.</span><span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /**</span>
<a name="l00063"></a>00063 <span class="comment"> * Lightweight 2D point. Allows coordinate access using [] operator.</span>
<a name="l00064"></a>00064 <span class="comment"> * \sa mrpt::poses::CPoint2D</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a>00066 <span class="comment">//#define TOBJECTS_USE_UNIONS</span>
<a name="l00067"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html">00067</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> {<span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /**</span>
<a name="l00069"></a>00069 <span class="comment"> * X coordinate.</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2">00071</a> <span class="keywordtype">double</span> x;<span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /**</span>
<a name="l00073"></a>00073 <span class="comment"> * Y coordinate.</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf">00075</a> <span class="keywordtype">double</span> y;<span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /**</span>
<a name="l00077"></a>00077 <span class="comment"> * Constructor from TPose2D, discarding phi.</span>
<a name="l00078"></a>00078 <span class="comment"> * \sa TPose2D</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a>00080 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p);<span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /**</span>
<a name="l00082"></a>00082 <span class="comment"> * Constructor from TPoint3D, discarding z.</span>
<a name="l00083"></a>00083 <span class="comment"> * \sa TPoint3D</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p);<span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /**</span>
<a name="l00087"></a>00087 <span class="comment"> * Constructor from TPose3D, discarding z and the angular coordinates.</span>
<a name="l00088"></a>00088 <span class="comment"> * \sa TPose3D</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a>00090 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p);<span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /**</span>
<a name="l00092"></a>00092 <span class="comment"> * Constructor from CPoseOrPoint, losing information</span>
<a name="l00093"></a>00093 <span class="comment"> * \sa CPoseOrPoint,CPoint3D,CPose2D,CPose3D</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base class for 2D points, 3D points, 2D poses and 3D poses.">mrpt::poses::CPoseOrPoint</a> &p);<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /**</span>
<a name="l00097"></a>00097 <span class="comment"> * Implicit constructor from heavyweight type.</span>
<a name="l00098"></a>00098 <span class="comment"> * \sa CPoint2D</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">mrpt::poses::CPoint2D</a> &p);<span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /**</span>
<a name="l00102"></a>00102 <span class="comment"> * Constructor from coordinates.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a643c84e24b6d8017814e69eb7fcb5d7d">00104</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a643c84e24b6d8017814e69eb7fcb5d7d" title="Constructor from coordinates.">TPoint2D</a>(<span class="keywordtype">double</span> xx,<span class="keywordtype">double</span> yy):x(xx),y(yy) {}<span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /**</span>
<a name="l00106"></a>00106 <span class="comment"> * Default fast constructor. Initializes to garbage.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#aff6118cf6c6c5bf73572ed982bbebcb8">00108</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#aff6118cf6c6c5bf73572ed982bbebcb8" title="Default fast constructor.">TPoint2D</a>() {}<span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /**</span>
<a name="l00110"></a>00110 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#ae03ee477f29491e1d3dc5adbf4a2f9e0">00112</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#ae03ee477f29491e1d3dc5adbf4a2f9e0" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00113"></a>00113 <span class="keywordflow">return</span> (&x)[i];
<a name="l00114"></a>00114 }<span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /**</span>
<a name="l00116"></a>00116 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1772f5c95c86736dc92a9c1987d352f4">00118</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1772f5c95c86736dc92a9c1987d352f4" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00119"></a>00119 <span class="keywordflow">return</span> (&x)[i];
<a name="l00120"></a>00120 }<span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /**</span>
<a name="l00122"></a>00122 <span class="comment"> * Transformation into vector.</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#aca273276a6b5238ecc0807dc090dab33">00124</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#aca273276a6b5238ecc0807dc090dab33" title="Transformation into vector.">getAsVector</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &v)<span class="keyword"> const </span>{
<a name="l00125"></a>00125 v.resize(2);
<a name="l00126"></a>00126 v[0]=x; v[1]=y;
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#abafe308dd59b537a3501d3dfe0ed1c16">operator<</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) <span class="keyword">const</span>;
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#af2502ef39b3babc39fed9b188da29c5f">00131</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#af2502ef39b3babc39fed9b188da29c5f">operator+=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) {
<a name="l00132"></a>00132 x+=p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>;
<a name="l00133"></a>00133 y+=p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>;
<a name="l00134"></a>00134 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a31c145beff6becf7b5f17af60138c7e5">00137</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a31c145beff6becf7b5f17af60138c7e5">operator-=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) {
<a name="l00138"></a>00138 x-=p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>;
<a name="l00139"></a>00139 y-=p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>;
<a name="l00140"></a>00140 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142
<a name="l00143"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a29064b0786d89ac0e78ff472564af100">00143</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a29064b0786d89ac0e78ff472564af100">operator*=</a>(<span class="keywordtype">double</span> d) {
<a name="l00144"></a>00144 x*=d;
<a name="l00145"></a>00145 y*=d;
<a name="l00146"></a>00146 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148
<a name="l00149"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a5075e6eba41d259f1826892501cee7ac">00149</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a5075e6eba41d259f1826892501cee7ac">operator/=</a>(<span class="keywordtype">double</span> d) {
<a name="l00150"></a>00150 x/=d;
<a name="l00151"></a>00151 y/=d;
<a name="l00152"></a>00152 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00155"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1a39a1f7bcbd14ccf8cb5c48ee13de2a">00155</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1a39a1f7bcbd14ccf8cb5c48ee13de2a">operator+</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p)<span class="keyword"> const </span>{
<a name="l00156"></a>00156 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> r(*<span class="keyword">this</span>);
<a name="l00157"></a>00157 <span class="keywordflow">return</span> r+=p;
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159
<a name="l00160"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a8a5470aee867e30fbb80c3f0a6f4c0c8">00160</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a8a5470aee867e30fbb80c3f0a6f4c0c8">operator-</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p)<span class="keyword"> const </span>{
<a name="l00161"></a>00161 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> r(*<span class="keyword">this</span>);
<a name="l00162"></a>00162 <span class="keywordflow">return</span> r-=p;
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164
<a name="l00165"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#abeaa77cd9651e00c07ada002e5a0806b">00165</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#abeaa77cd9651e00c07ada002e5a0806b">operator*</a>(<span class="keywordtype">double</span> d)<span class="keyword"> const </span>{
<a name="l00166"></a>00166 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> r(*<span class="keyword">this</span>);
<a name="l00167"></a>00167 <span class="keywordflow">return</span> r*=d;
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169
<a name="l00170"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a40709135521a62f6c6806f28166f1149">00170</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a40709135521a62f6c6806f28166f1149">operator/</a>(<span class="keywordtype">double</span> d)<span class="keyword"> const </span>{
<a name="l00171"></a>00171 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> r(*<span class="keyword">this</span>);
<a name="l00172"></a>00172 <span class="keywordflow">return</span> r/=d;
<a name="l00173"></a>00173 }<span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )</span>
<a name="l00175"></a>00175 <span class="comment"> * \sa fromString</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1d0440b33bea68b4c2fd42eaee72e7c9">00177</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1d0440b33bea68b4c2fd42eaee72e7c9" title="Returns a human-readable textual representation of the object (eg: &quot;[0.02 1...">asString</a>(std::string &s)<span class="keyword"> const </span>{ s = <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f]"</span>,x,y); }
<a name="l00178"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a102f3c104b0a154c7eab7f49f86d58b2">00178</a> <span class="keyword">inline</span> std::string <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a102f3c104b0a154c7eab7f49f86d58b2">asString</a>()<span class="keyword"> const </span>{ std::string s; <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a102f3c104b0a154c7eab7f49f86d58b2">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )</span>
<a name="l00181"></a>00181 <span class="comment"> * \sa asString</span>
<a name="l00182"></a>00182 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00183"></a>00183 <span class="comment"> */</span>
<a name="l00184"></a>00184 <span class="keywordtype">void</span> fromString(<span class="keyword">const</span> std::string &s);
<a name="l00185"></a><a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a831c64888bbaa386899385159bfebfac">00185</a> <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a831c64888bbaa386899385159bfebfac">size</a>() { <span class="keywordflow">return</span> 2; }
<a name="l00186"></a>00186 };
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment"> /**</span>
<a name="l00189"></a>00189 <span class="comment"> * Lightweight 2D pose. Allows coordinate access using [] operator.</span>
<a name="l00190"></a>00190 <span class="comment"> * \sa mrpt::poses::CPose2D</span>
<a name="l00191"></a>00191 <span class="comment"> */</span>
<a name="l00192"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html">00192</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> {<span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /**</span>
<a name="l00194"></a>00194 <span class="comment"> * X coordinate.</span>
<a name="l00195"></a>00195 <span class="comment"> */</span>
<a name="l00196"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264">00196</a> <span class="keywordtype">double</span> x;<span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /**</span>
<a name="l00198"></a>00198 <span class="comment"> * Y coordinate.</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387">00200</a> <span class="keywordtype">double</span> y;<span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> /**</span>
<a name="l00202"></a>00202 <span class="comment"> * Phi coordinate.</span>
<a name="l00203"></a>00203 <span class="comment"> */</span>
<a name="l00204"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f">00204</a> <span class="keywordtype">double</span> phi;<span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /**</span>
<a name="l00206"></a>00206 <span class="comment"> * Implicit constructor from TPoint2D. Zeroes the phi coordinate.</span>
<a name="l00207"></a>00207 <span class="comment"> * \sa TPoint2D</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a>00209 <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p);<span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /**</span>
<a name="l00211"></a>00211 <span class="comment"> * Constructor from TPoint3D, losing information. Zeroes the phi coordinate.</span>
<a name="l00212"></a>00212 <span class="comment"> * \sa TPoint3D</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a>00214 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p);<span class="comment"></span>
<a name="l00215"></a>00215 <span class="comment"> /**</span>
<a name="l00216"></a>00216 <span class="comment"> * Constructor from TPose3D, losing information. The phi corresponds to the original pose's yaw.</span>
<a name="l00217"></a>00217 <span class="comment"> * \sa TPose3D</span>
<a name="l00218"></a>00218 <span class="comment"> */</span>
<a name="l00219"></a>00219 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p);<span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /**</span>
<a name="l00221"></a>00221 <span class="comment"> * Implicit constructor from heavyweight type.</span>
<a name="l00222"></a>00222 <span class="comment"> * \sa mrpt::poses::CPose2D</span>
<a name="l00223"></a>00223 <span class="comment"> */</span>
<a name="l00224"></a>00224 <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &p);<span class="comment"></span>
<a name="l00225"></a>00225 <span class="comment"> /**</span>
<a name="l00226"></a>00226 <span class="comment"> * Constructor from coordinates.</span>
<a name="l00227"></a>00227 <span class="comment"> */</span>
<a name="l00228"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a7cf4288dbb925e73fa8d189878f20880">00228</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a7cf4288dbb925e73fa8d189878f20880" title="Constructor from coordinates.">TPose2D</a>(<span class="keywordtype">double</span> xx,<span class="keywordtype">double</span> yy,<span class="keywordtype">double</span> pphi):x(xx),y(yy),phi(pphi) {}<span class="comment"></span>
<a name="l00229"></a>00229 <span class="comment"> /**</span>
<a name="l00230"></a>00230 <span class="comment"> * Default fast constructor. Initializes to garbage.</span>
<a name="l00231"></a>00231 <span class="comment"> */</span>
<a name="l00232"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a9d5625023ed51c2e26e0e9352565dff9">00232</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a9d5625023ed51c2e26e0e9352565dff9" title="Default fast constructor.">TPose2D</a>() {}<span class="comment"></span>
<a name="l00233"></a>00233 <span class="comment"> /**</span>
<a name="l00234"></a>00234 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00235"></a>00235 <span class="comment"> */</span>
<a name="l00236"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a905d3bee7a8d479f7ff38ace9b69d4bc">00236</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a905d3bee7a8d479f7ff38ace9b69d4bc" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00237"></a>00237 <span class="keywordflow">return</span> (&x)[i];
<a name="l00238"></a>00238 }<span class="comment"></span>
<a name="l00239"></a>00239 <span class="comment"> /**</span>
<a name="l00240"></a>00240 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00241"></a>00241 <span class="comment"> */</span>
<a name="l00242"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#ac060be44841bf8ec72cefbc26b74f8de">00242</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#ac060be44841bf8ec72cefbc26b74f8de" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00243"></a>00243 <span class="keywordflow">return</span> (&x)[i];
<a name="l00244"></a>00244 }<span class="comment"></span>
<a name="l00245"></a>00245 <span class="comment"> /**</span>
<a name="l00246"></a>00246 <span class="comment"> * Transformation into vector.</span>
<a name="l00247"></a>00247 <span class="comment"> */</span>
<a name="l00248"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#ab1e496cda32ac32a5ac717b605cc7779">00248</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#ab1e496cda32ac32a5ac717b605cc7779" title="Transformation into vector.">getAsVector</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &v)<span class="keyword"> const </span>{
<a name="l00249"></a>00249 v.resize(3);
<a name="l00250"></a>00250 v[0]=x; v[1]=y; v[2]=phi;
<a name="l00251"></a>00251 }<span class="comment"></span>
<a name="l00252"></a>00252 <span class="comment"> /** Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)</span>
<a name="l00253"></a>00253 <span class="comment"> * \sa fromString</span>
<a name="l00254"></a>00254 <span class="comment"> */</span>
<a name="l00255"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a288db131182a6011dcfd4f2e6b95c0bd">00255</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a288db131182a6011dcfd4f2e6b95c0bd" title="Returns a human-readable textual representation of the object (eg: &quot;[x y yaw]&quot;...">asString</a>(std::string &s)<span class="keyword"> const </span>{ s = <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f %f]"</span>,x,y,<a class="code" href="namespacemrpt_1_1utils.html#a62aea6de6157d52c54ae4251c871cfc1" title="Radians to degrees.">RAD2DEG</a>(phi)); }
<a name="l00256"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a9276ecc691b4f74b6beabb089134ac47">00256</a> <span class="keyword">inline</span> std::string <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a9276ecc691b4f74b6beabb089134ac47">asString</a>()<span class="keyword"> const </span>{ std::string s; <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a9276ecc691b4f74b6beabb089134ac47">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00257"></a>00257 <span class="comment"></span>
<a name="l00258"></a>00258 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )</span>
<a name="l00259"></a>00259 <span class="comment"> * \sa asString</span>
<a name="l00260"></a>00260 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00261"></a>00261 <span class="comment"> */</span>
<a name="l00262"></a>00262 <span class="keywordtype">void</span> fromString(<span class="keyword">const</span> std::string &s);
<a name="l00263"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a045131544151d6bbac29b76ade0fe642">00263</a> <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a045131544151d6bbac29b76ade0fe642">size</a>() { <span class="keywordflow">return</span> 3; }
<a name="l00264"></a>00264 };
<a name="l00265"></a>00265 <span class="comment"></span>
<a name="l00266"></a>00266 <span class="comment"> /**</span>
<a name="l00267"></a>00267 <span class="comment"> * Lightweight 3D point. Allows coordinate access using [] operator.</span>
<a name="l00268"></a>00268 <span class="comment"> * \sa mrpt::poses::CPoint3D, mrpt::math::TPoint3Df</span>
<a name="l00269"></a>00269 <span class="comment"> */</span>
<a name="l00270"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html">00270</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> {<span class="comment"></span>
<a name="l00271"></a>00271 <span class="comment"> /**</span>
<a name="l00272"></a>00272 <span class="comment"> * X coordinate.</span>
<a name="l00273"></a>00273 <span class="comment"> */</span>
<a name="l00274"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2">00274</a> <span class="keywordtype">double</span> x;<span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment"> /**</span>
<a name="l00276"></a>00276 <span class="comment"> * Y coordinate.</span>
<a name="l00277"></a>00277 <span class="comment"> */</span>
<a name="l00278"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37">00278</a> <span class="keywordtype">double</span> y;<span class="comment"></span>
<a name="l00279"></a>00279 <span class="comment"> /**</span>
<a name="l00280"></a>00280 <span class="comment"> * Z coordinate.</span>
<a name="l00281"></a>00281 <span class="comment"> */</span>
<a name="l00282"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307">00282</a> <span class="keywordtype">double</span> z;<span class="comment"></span>
<a name="l00283"></a>00283 <span class="comment"> /**</span>
<a name="l00284"></a>00284 <span class="comment"> * Implicit constructor from TPoint2D. Zeroes the z.</span>
<a name="l00285"></a>00285 <span class="comment"> * \sa TPoint2D</span>
<a name="l00286"></a>00286 <span class="comment"> */</span>
<a name="l00287"></a>00287 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p);<span class="comment"></span>
<a name="l00288"></a>00288 <span class="comment"> /**</span>
<a name="l00289"></a>00289 <span class="comment"> * Constructor from TPose2D, losing information. Zeroes the z.</span>
<a name="l00290"></a>00290 <span class="comment"> * \sa TPose2D</span>
<a name="l00291"></a>00291 <span class="comment"> */</span>
<a name="l00292"></a>00292 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p);<span class="comment"></span>
<a name="l00293"></a>00293 <span class="comment"> /**</span>
<a name="l00294"></a>00294 <span class="comment"> * Constructor from TPose3D, losing information.</span>
<a name="l00295"></a>00295 <span class="comment"> * \sa TPose3D</span>
<a name="l00296"></a>00296 <span class="comment"> */</span>
<a name="l00297"></a>00297 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p);<span class="comment"></span>
<a name="l00298"></a>00298 <span class="comment"> /**</span>
<a name="l00299"></a>00299 <span class="comment"> * Implicit constructor from heavyweight type.</span>
<a name="l00300"></a>00300 <span class="comment"> * \sa mrpt::poses::CPoint3D</span>
<a name="l00301"></a>00301 <span class="comment"> */</span>
<a name="l00302"></a>00302 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">mrpt::poses::CPoint3D</a> &p);<span class="comment"></span>
<a name="l00303"></a>00303 <span class="comment"> /**</span>
<a name="l00304"></a>00304 <span class="comment"> * Constructor from heavyweight 3D pose.</span>
<a name="l00305"></a>00305 <span class="comment"> * \sa mrpt::poses::CPose3D.</span>
<a name="l00306"></a>00306 <span class="comment"> */</span>
<a name="l00307"></a>00307 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &p);<span class="comment"></span>
<a name="l00308"></a>00308 <span class="comment"> /**</span>
<a name="l00309"></a>00309 <span class="comment"> * Constructor from coordinates.</span>
<a name="l00310"></a>00310 <span class="comment"> */</span>
<a name="l00311"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a49f346076ee40140bd8842ead7213f4d">00311</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a49f346076ee40140bd8842ead7213f4d" title="Constructor from coordinates.">TPoint3D</a>(<span class="keywordtype">double</span> xx,<span class="keywordtype">double</span> yy,<span class="keywordtype">double</span> zz):x(xx),y(yy),z(zz) {}<span class="comment"></span>
<a name="l00312"></a>00312 <span class="comment"> /**</span>
<a name="l00313"></a>00313 <span class="comment"> * Default fast constructor. Initializes to garbage.</span>
<a name="l00314"></a>00314 <span class="comment"> */</span>
<a name="l00315"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ac88ae56dff4e7bb251a8dae1a1ba9fce">00315</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ac88ae56dff4e7bb251a8dae1a1ba9fce" title="Default fast constructor.">TPoint3D</a>() {}<span class="comment"></span>
<a name="l00316"></a>00316 <span class="comment"> /**</span>
<a name="l00317"></a>00317 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00318"></a>00318 <span class="comment"> */</span>
<a name="l00319"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#adc2a882dc1bece4135cb55c69bb8c4a0">00319</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#adc2a882dc1bece4135cb55c69bb8c4a0" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00320"></a>00320 <span class="keywordflow">return</span> (&x)[i];
<a name="l00321"></a>00321 }<span class="comment"></span>
<a name="l00322"></a>00322 <span class="comment"> /**</span>
<a name="l00323"></a>00323 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00324"></a>00324 <span class="comment"> */</span>
<a name="l00325"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ad4dc6b3874d856728602c54e3c2bb17f">00325</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ad4dc6b3874d856728602c54e3c2bb17f" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00326"></a>00326 <span class="keywordflow">return</span> (&x)[i];
<a name="l00327"></a>00327 }<span class="comment"></span>
<a name="l00328"></a>00328 <span class="comment"> /**</span>
<a name="l00329"></a>00329 <span class="comment"> * Point-to-point distance.</span>
<a name="l00330"></a>00330 <span class="comment"> */</span>
<a name="l00331"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a190bb0eed286244f77639954da86fb90">00331</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a190bb0eed286244f77639954da86fb90" title="Point-to-point distance.">distanceTo</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l00332"></a>00332 <span class="keywordflow">return</span> sqrt(<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>-x)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>-y)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>-z));
<a name="l00333"></a>00333 }<span class="comment"></span>
<a name="l00334"></a>00334 <span class="comment"> /**</span>
<a name="l00335"></a>00335 <span class="comment"> * Point-to-point distance, squared.</span>
<a name="l00336"></a>00336 <span class="comment"> */</span>
<a name="l00337"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aa01685183f34ad309ec5b0dd20d0561e">00337</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aa01685183f34ad309ec5b0dd20d0561e" title="Point-to-point distance, squared.">sqrDistanceTo</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l00338"></a>00338 <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>-x)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>-y)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>-z);
<a name="l00339"></a>00339 }<span class="comment"></span>
<a name="l00340"></a>00340 <span class="comment"> /**</span>
<a name="l00341"></a>00341 <span class="comment"> * Point norm.</span>
<a name="l00342"></a>00342 <span class="comment"> */</span>
<a name="l00343"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#af609309059a47f54efe839fd69fdeb8d">00343</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#af609309059a47f54efe839fd69fdeb8d" title="Point norm.">norm</a>()<span class="keyword"> const </span>{
<a name="l00344"></a>00344 <span class="keywordflow">return</span> sqrt(<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(x)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(y)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(z));
<a name="l00345"></a>00345 }<span class="comment"></span>
<a name="l00346"></a>00346 <span class="comment"> /**</span>
<a name="l00347"></a>00347 <span class="comment"> * Point scale.</span>
<a name="l00348"></a>00348 <span class="comment"> */</span>
<a name="l00349"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ab4f3044fcde6d95ce8a9bf2edae1b126">00349</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ab4f3044fcde6d95ce8a9bf2edae1b126" title="Point scale.">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> f) {
<a name="l00350"></a>00350 x*=f;y*=f;z*=f;
<a name="l00351"></a>00351 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00352"></a>00352 }<span class="comment"></span>
<a name="l00353"></a>00353 <span class="comment"> /**</span>
<a name="l00354"></a>00354 <span class="comment"> * Transformation into vector.</span>
<a name="l00355"></a>00355 <span class="comment"> */</span>
<a name="l00356"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ae609020cf0a96351dba78d9537b22d67">00356</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ae609020cf0a96351dba78d9537b22d67" title="Transformation into vector.">getAsVector</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &v)<span class="keyword"> const </span>{
<a name="l00357"></a>00357 v.resize(3);
<a name="l00358"></a>00358 v[0]=x; v[1]=y; v[2]=z;
<a name="l00359"></a>00359 }<span class="comment"></span>
<a name="l00360"></a>00360 <span class="comment"> /**</span>
<a name="l00361"></a>00361 <span class="comment"> * Translation.</span>
<a name="l00362"></a>00362 <span class="comment"> */</span>
<a name="l00363"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ab359e6fd41cfe74c5308bdab364d06b6">00363</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ab359e6fd41cfe74c5308bdab364d06b6" title="Translation.">operator+=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) {
<a name="l00364"></a>00364 x+=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>;
<a name="l00365"></a>00365 y+=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>;
<a name="l00366"></a>00366 z+=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>;
<a name="l00367"></a>00367 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00368"></a>00368 }<span class="comment"></span>
<a name="l00369"></a>00369 <span class="comment"> /**</span>
<a name="l00370"></a>00370 <span class="comment"> * Difference between points.</span>
<a name="l00371"></a>00371 <span class="comment"> */</span>
<a name="l00372"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a25bde1b45542148d92dc0fd8e9f0c525">00372</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a25bde1b45542148d92dc0fd8e9f0c525" title="Difference between points.">operator-=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) {
<a name="l00373"></a>00373 x-=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>;
<a name="l00374"></a>00374 y-=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>;
<a name="l00375"></a>00375 z-=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>;
<a name="l00376"></a>00376 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00377"></a>00377 }<span class="comment"></span>
<a name="l00378"></a>00378 <span class="comment"> /**</span>
<a name="l00379"></a>00379 <span class="comment"> * Points addition.</span>
<a name="l00380"></a>00380 <span class="comment"> */</span>
<a name="l00381"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a36eb183e50c562cf90b54c14b6609106">00381</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a36eb183e50c562cf90b54c14b6609106" title="Points addition.">operator+</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l00382"></a>00382 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(x+p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,y+p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,z+p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>);
<a name="l00383"></a>00383 }<span class="comment"></span>
<a name="l00384"></a>00384 <span class="comment"> /**</span>
<a name="l00385"></a>00385 <span class="comment"> * Points substraction.</span>
<a name="l00386"></a>00386 <span class="comment"> */</span>
<a name="l00387"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a847c43192b5946e0d3504ac44f7369f2">00387</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a847c43192b5946e0d3504ac44f7369f2" title="Points substraction.">operator-</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l00388"></a>00388 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(x-p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,y-p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,z-p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>);
<a name="l00389"></a>00389 }
<a name="l00390"></a>00390
<a name="l00391"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ae346129ed0109c91767803ada3f0ceeb">00391</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ae346129ed0109c91767803ada3f0ceeb">operator*</a>(<span class="keywordtype">double</span> d)<span class="keyword"> const </span>{
<a name="l00392"></a>00392 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(x*d,y*d,z*d);
<a name="l00393"></a>00393 }
<a name="l00394"></a>00394
<a name="l00395"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ad83bbfd0cd8f616674f75eee8728cf17">00395</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ad83bbfd0cd8f616674f75eee8728cf17">operator/</a>(<span class="keywordtype">double</span> d)<span class="keyword"> const </span>{
<a name="l00396"></a>00396 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(x/d,y/d,z/d);
<a name="l00397"></a>00397 }
<a name="l00398"></a>00398
<a name="l00399"></a>00399 <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#abafe308dd59b537a3501d3dfe0ed1c16">operator<</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) <span class="keyword">const</span>;
<a name="l00400"></a>00400 <span class="comment"></span>
<a name="l00401"></a>00401 <span class="comment"> /** Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" )</span>
<a name="l00402"></a>00402 <span class="comment"> * \sa fromString</span>
<a name="l00403"></a>00403 <span class="comment"> */</span>
<a name="l00404"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ac08cd13736aa5945e136822a18162b45">00404</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#ac08cd13736aa5945e136822a18162b45" title="Returns a human-readable textual representation of the object (eg: &quot;[0.02 1...">asString</a>(std::string &s)<span class="keyword"> const </span>{ s = <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f %f]"</span>,x,y,z); }
<a name="l00405"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aac1429885835a581c5c47168ae9517e8">00405</a> <span class="keyword">inline</span> std::string <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aac1429885835a581c5c47168ae9517e8">asString</a>()<span class="keyword"> const </span>{ std::string s; <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aac1429885835a581c5c47168ae9517e8">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00406"></a>00406 <span class="comment"></span>
<a name="l00407"></a>00407 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )</span>
<a name="l00408"></a>00408 <span class="comment"> * \sa asString</span>
<a name="l00409"></a>00409 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00410"></a>00410 <span class="comment"> */</span>
<a name="l00411"></a>00411 <span class="keywordtype">void</span> fromString(<span class="keyword">const</span> std::string &s);
<a name="l00412"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a9a015aa0e0eaded1ef2ee0ff1fade996">00412</a> <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a9a015aa0e0eaded1ef2ee0ff1fade996">size</a>() { <span class="keywordflow">return</span> 3; }
<a name="l00413"></a>00413 };
<a name="l00414"></a>00414 <span class="comment"></span>
<a name="l00415"></a>00415 <span class="comment"> /** Lightweight 3D point (float version).</span>
<a name="l00416"></a>00416 <span class="comment"> * \sa mrpt::poses::CPoint3D, mrpt::math::TPoint3Df</span>
<a name="l00417"></a>00417 <span class="comment"> */</span>
<a name="l00418"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html">00418</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">TPoint3Df</a>
<a name="l00419"></a>00419 {
<a name="l00420"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a5b003a46a7b3850ffee039f36ec3e3f5">00420</a> <span class="keywordtype">float</span> x;
<a name="l00421"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#acdb4c17e9fbbe13cdf0fc4870eb47040">00421</a> <span class="keywordtype">float</span> y;
<a name="l00422"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a2a3ffdb8ec68e7c3d8917486aef828ed">00422</a> <span class="keywordtype">float</span> z;
<a name="l00423"></a>00423
<a name="l00424"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a1b64c31d018c58bbb5755f88ac0094b9">00424</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#a1b64c31d018c58bbb5755f88ac0094b9">TPoint3Df</a>() { }
<a name="l00425"></a><a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#af055d856fdfc152894c5847b3feb5254">00425</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html#af055d856fdfc152894c5847b3feb5254">TPoint3Df</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> xx,<span class="keyword">const</span> <span class="keywordtype">float</span> yy,<span class="keyword">const</span> <span class="keywordtype">float</span> zz) : x(xx), y(yy),z(zz) { }
<a name="l00426"></a>00426 };
<a name="l00427"></a>00427 <span class="comment"></span>
<a name="l00428"></a>00428 <span class="comment"> /**</span>
<a name="l00429"></a>00429 <span class="comment"> * Lightweight 3D pose (three spatial coordinates, plus three angular coordinates). Allows coordinate access using [] operator.</span>
<a name="l00430"></a>00430 <span class="comment"> * \sa mrpt::poses::CPose3D</span>
<a name="l00431"></a>00431 <span class="comment"> */</span>
<a name="l00432"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html">00432</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> {<span class="comment"></span>
<a name="l00433"></a>00433 <span class="comment"> /**</span>
<a name="l00434"></a>00434 <span class="comment"> * X coordinate.</span>
<a name="l00435"></a>00435 <span class="comment"> */</span>
<a name="l00436"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a58c4aff2e15ffe59fcd033a1b8a9a233">00436</a> <span class="keywordtype">double</span> x;<span class="comment"></span>
<a name="l00437"></a>00437 <span class="comment"> /**</span>
<a name="l00438"></a>00438 <span class="comment"> * Y coordinate.</span>
<a name="l00439"></a>00439 <span class="comment"> */</span>
<a name="l00440"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a0fc71229e42e72ead9652312ae69259a">00440</a> <span class="keywordtype">double</span> y;<span class="comment"></span>
<a name="l00441"></a>00441 <span class="comment"> /**</span>
<a name="l00442"></a>00442 <span class="comment"> * Z coordinate.</span>
<a name="l00443"></a>00443 <span class="comment"> */</span>
<a name="l00444"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a62c86a3ad1d59501afca2b30cd4f9d76">00444</a> <span class="keywordtype">double</span> z;<span class="comment"></span>
<a name="l00445"></a>00445 <span class="comment"> /**</span>
<a name="l00446"></a>00446 <span class="comment"> * Yaw coordinate (rotation angle over Z axis).</span>
<a name="l00447"></a>00447 <span class="comment"> */</span>
<a name="l00448"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#af57c4381902066aac35d93746ed9dff9">00448</a> <span class="keywordtype">double</span> yaw;<span class="comment"></span>
<a name="l00449"></a>00449 <span class="comment"> /**</span>
<a name="l00450"></a>00450 <span class="comment"> * Pitch coordinate (rotation angle over Y axis).</span>
<a name="l00451"></a>00451 <span class="comment"> */</span>
<a name="l00452"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#acab2927c55a45e830e741220339bc580">00452</a> <span class="keywordtype">double</span> pitch;<span class="comment"></span>
<a name="l00453"></a>00453 <span class="comment"> /**</span>
<a name="l00454"></a>00454 <span class="comment"> * Roll coordinate (rotation angle over X coordinate).</span>
<a name="l00455"></a>00455 <span class="comment"> */</span>
<a name="l00456"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a6ca364705b1001f112cf423ad68b5a98">00456</a> <span class="keywordtype">double</span> roll;<span class="comment"></span>
<a name="l00457"></a>00457 <span class="comment"> /**</span>
<a name="l00458"></a>00458 <span class="comment"> * Implicit constructor from TPoint2D. Zeroes all the unprovided information.</span>
<a name="l00459"></a>00459 <span class="comment"> * \sa TPoint2D</span>
<a name="l00460"></a>00460 <span class="comment"> */</span>
<a name="l00461"></a>00461 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p);<span class="comment"></span>
<a name="l00462"></a>00462 <span class="comment"> /**</span>
<a name="l00463"></a>00463 <span class="comment"> * Implicit constructor from TPose2D. Gets the yaw from the 2D pose's phi, zeroing all the unprovided information.</span>
<a name="l00464"></a>00464 <span class="comment"> * \sa TPose2D</span>
<a name="l00465"></a>00465 <span class="comment"> */</span>
<a name="l00466"></a>00466 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p);<span class="comment"></span>
<a name="l00467"></a>00467 <span class="comment"> /**</span>
<a name="l00468"></a>00468 <span class="comment"> * Implicit constructor from TPoint3D. Zeroes angular information.</span>
<a name="l00469"></a>00469 <span class="comment"> * \sa TPoint3D</span>
<a name="l00470"></a>00470 <span class="comment"> */</span>
<a name="l00471"></a>00471 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p);<span class="comment"></span>
<a name="l00472"></a>00472 <span class="comment"> /**</span>
<a name="l00473"></a>00473 <span class="comment"> * Implicit constructor from heavyweight type.</span>
<a name="l00474"></a>00474 <span class="comment"> * \sa mrpt::poses::CPose3D</span>
<a name="l00475"></a>00475 <span class="comment"> */</span>
<a name="l00476"></a>00476 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &p);<span class="comment"></span>
<a name="l00477"></a>00477 <span class="comment"> /**</span>
<a name="l00478"></a>00478 <span class="comment"> * Constructor from coordinates.</span>
<a name="l00479"></a>00479 <span class="comment"> */</span>
<a name="l00480"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a55d71b8d84eb0d3ce3129d740e02c342">00480</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a55d71b8d84eb0d3ce3129d740e02c342" title="Constructor from coordinates.">TPose3D</a>(<span class="keywordtype">double</span> _x,<span class="keywordtype">double</span> _y,<span class="keywordtype">double</span> _z,<span class="keywordtype">double</span> _yaw,<span class="keywordtype">double</span> _pitch,<span class="keywordtype">double</span> _roll):x(_x),y(_y),z(_z),yaw(_yaw),pitch(_pitch),roll(_roll) {}<span class="comment"></span>
<a name="l00481"></a>00481 <span class="comment"> /**</span>
<a name="l00482"></a>00482 <span class="comment"> * Default fast constructor. Initializes to garbage.</span>
<a name="l00483"></a>00483 <span class="comment"> */</span>
<a name="l00484"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac8e5bd4c137df41d6be88a0739b86286">00484</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac8e5bd4c137df41d6be88a0739b86286" title="Default fast constructor.">TPose3D</a>() {}<span class="comment"></span>
<a name="l00485"></a>00485 <span class="comment"> /**</span>
<a name="l00486"></a>00486 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00487"></a>00487 <span class="comment"> */</span>
<a name="l00488"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac64486dfe0fb4a3b74fa83c672b5f4c7">00488</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac64486dfe0fb4a3b74fa83c672b5f4c7" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00489"></a>00489 <span class="keywordflow">return</span> (&x)[i];
<a name="l00490"></a>00490 }<span class="comment"></span>
<a name="l00491"></a>00491 <span class="comment"> /**</span>
<a name="l00492"></a>00492 <span class="comment"> * Unsafe coordinate access using operator[]. Intended for loops.</span>
<a name="l00493"></a>00493 <span class="comment"> */</span>
<a name="l00494"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a4e19a08aa9676d60b9e8dd8a31371c13">00494</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a4e19a08aa9676d60b9e8dd8a31371c13" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00495"></a>00495 <span class="keywordflow">return</span> (&x)[i];
<a name="l00496"></a>00496 }<span class="comment"></span>
<a name="l00497"></a>00497 <span class="comment"> /**</span>
<a name="l00498"></a>00498 <span class="comment"> * Pose's spatial coordinates norm.</span>
<a name="l00499"></a>00499 <span class="comment"> */</span>
<a name="l00500"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#abdc2d1bc7428882773b957d4c2ce52ae">00500</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#abdc2d1bc7428882773b957d4c2ce52ae" title="Pose&#39;s spatial coordinates norm.">norm</a>()<span class="keyword"> const </span>{
<a name="l00501"></a>00501 <span class="keywordflow">return</span> sqrt(<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(x)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(y)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(z));
<a name="l00502"></a>00502 }<span class="comment"></span>
<a name="l00503"></a>00503 <span class="comment"> /**</span>
<a name="l00504"></a>00504 <span class="comment"> * Gets the pose as a vector of doubles.</span>
<a name="l00505"></a>00505 <span class="comment"> */</span>
<a name="l00506"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ace014988b5d89b8400fdc58d994e2c35">00506</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ace014988b5d89b8400fdc58d994e2c35" title="Gets the pose as a vector of doubles.">getAsVector</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &v)<span class="keyword"> const </span>{
<a name="l00507"></a>00507 v.resize(6);
<a name="l00508"></a>00508 v[0]=x; v[1]=y; v[2]=z; v[3]=yaw; v[4]=pitch; v[5]=roll;
<a name="l00509"></a>00509 }<span class="comment"></span>
<a name="l00510"></a>00510 <span class="comment"> /** Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.)</span>
<a name="l00511"></a>00511 <span class="comment"> * \sa fromString</span>
<a name="l00512"></a>00512 <span class="comment"> */</span>
<a name="l00513"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a4439957e9d8d6811ec2f854a82976ae7">00513</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a4439957e9d8d6811ec2f854a82976ae7" title="Returns a human-readable textual representation of the object (eg: &quot;[x y z yaw...">asString</a>(std::string &s)<span class="keyword"> const </span>{ s = <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f %f %f %f %f]"</span>,x,y,z,<a class="code" href="namespacemrpt_1_1utils.html#a62aea6de6157d52c54ae4251c871cfc1" title="Radians to degrees.">RAD2DEG</a>(yaw),<a class="code" href="namespacemrpt_1_1utils.html#a62aea6de6157d52c54ae4251c871cfc1" title="Radians to degrees.">RAD2DEG</a>(pitch),<a class="code" href="namespacemrpt_1_1utils.html#a62aea6de6157d52c54ae4251c871cfc1" title="Radians to degrees.">RAD2DEG</a>(roll)); }
<a name="l00514"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac6703e1c2059c201e5f65345ec47478a">00514</a> <span class="keyword">inline</span> std::string <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac6703e1c2059c201e5f65345ec47478a">asString</a>()<span class="keyword"> const </span>{ std::string s; <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#ac6703e1c2059c201e5f65345ec47478a">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00515"></a>00515 <span class="comment"></span>
<a name="l00516"></a>00516 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )</span>
<a name="l00517"></a>00517 <span class="comment"> * \sa asString</span>
<a name="l00518"></a>00518 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00519"></a>00519 <span class="comment"> */</span>
<a name="l00520"></a>00520 <span class="keywordtype">void</span> fromString(<span class="keyword">const</span> std::string &s);
<a name="l00521"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a47889c4995254b4457d9a41a501508fc">00521</a> <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a47889c4995254b4457d9a41a501508fc">size</a>() { <span class="keywordflow">return</span> 6; }
<a name="l00522"></a>00522 };
<a name="l00523"></a>00523 <span class="comment"></span>
<a name="l00524"></a>00524 <span class="comment"> /** Lightweight 3D pose (three spatial coordinates, plus a quaternion ). Allows coordinate access using [] operator.</span>
<a name="l00525"></a>00525 <span class="comment"> * \sa mrpt::poses::CPose3DQuat</span>
<a name="l00526"></a>00526 <span class="comment"> */</span>
<a name="l00527"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html">00527</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html" title="Lightweight 3D pose (three spatial coordinates, plus a quaternion ).">TPose3DQuat</a> {
<a name="l00528"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a4d5a55048bb3b66ee87cbe7c6328d49b">00528</a> <span class="keywordtype">double</span> x; <span class="comment">//!< Translation in x</span>
<a name="l00529"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a62fd68871a749de38ebbe29287997681">00529</a> <span class="comment"></span> <span class="keywordtype">double</span> y; <span class="comment">//!< Translation in y</span>
<a name="l00530"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a0bbd0b4bedd6f143a44a0fde5c8c2d8d">00530</a> <span class="comment"></span> <span class="keywordtype">double</span> z; <span class="comment">//!< Translation in z</span>
<a name="l00531"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#ae2896f9022a56dd7c152ddfd809f3045">00531</a> <span class="comment"></span> <span class="keywordtype">double</span> qr; <span class="comment">//!< Quaternion part, r</span>
<a name="l00532"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a1c01f4eb8f3728caec6753ed192c7dd1">00532</a> <span class="comment"></span> <span class="keywordtype">double</span> qx; <span class="comment">//!< Quaternion part, x</span>
<a name="l00533"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a32fb79e398c5f663381dccc24f797ca7">00533</a> <span class="comment"></span> <span class="keywordtype">double</span> qy; <span class="comment">//!< Quaternion part, y</span>
<a name="l00534"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a27a79c5282701f4ff99d96dbbb19de01">00534</a> <span class="comment"></span> <span class="keywordtype">double</span> qz; <span class="comment">//!< Quaternion part, z</span>
<a name="l00535"></a>00535 <span class="comment"></span><span class="comment"></span>
<a name="l00536"></a>00536 <span class="comment"> /** Constructor from coordinates. */</span>
<a name="l00537"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a4f714e3ed54dfc40593cb1e0db94314e">00537</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a4f714e3ed54dfc40593cb1e0db94314e" title="Constructor from coordinates.">TPose3DQuat</a>(<span class="keywordtype">double</span> _x,<span class="keywordtype">double</span> _y,<span class="keywordtype">double</span> _z,<span class="keywordtype">double</span> _qr,<span class="keywordtype">double</span> _qx, <span class="keywordtype">double</span> _qy, <span class="keywordtype">double</span> _qz):x(_x),y(_y),z(_z),qr(_qr),qx(_qx),qy(_qy),qz(_qz) { }<span class="comment"></span>
<a name="l00538"></a>00538 <span class="comment"> /** Default fast constructor. Initializes to garbage. */</span>
<a name="l00539"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#af5120dbe7526dde16ec24f8138c8f021">00539</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#af5120dbe7526dde16ec24f8138c8f021" title="Default fast constructor.">TPose3DQuat</a>() {}<span class="comment"></span>
<a name="l00540"></a>00540 <span class="comment"> /** Constructor from a CPose3DQuat */</span>
<a name="l00541"></a>00541 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html" title="Lightweight 3D pose (three spatial coordinates, plus a quaternion ).">TPose3DQuat</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx...">mrpt::poses::CPose3DQuat</a> &p);
<a name="l00542"></a>00542 <span class="comment"></span>
<a name="l00543"></a>00543 <span class="comment"> /** Unsafe coordinate access using operator[]. Intended for loops. */</span>
<a name="l00544"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a53c8b9d2d56bf77f1ec5a9a175e13f02">00544</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a53c8b9d2d56bf77f1ec5a9a175e13f02" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00545"></a>00545 <span class="keywordflow">return</span> (&x)[i];
<a name="l00546"></a>00546 }<span class="comment"></span>
<a name="l00547"></a>00547 <span class="comment"> /** Unsafe coordinate access using operator[]. Intended for loops. */</span>
<a name="l00548"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a3796a37f121ed959ed86bef112588863">00548</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a3796a37f121ed959ed86bef112588863" title="Unsafe coordinate access using operator[].">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00549"></a>00549 <span class="keywordflow">return</span> (&x)[i];
<a name="l00550"></a>00550 }<span class="comment"></span>
<a name="l00551"></a>00551 <span class="comment"> /** Pose's spatial coordinates norm. */</span>
<a name="l00552"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a6604758e2ba46d2452b8689c10f48cd4">00552</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a6604758e2ba46d2452b8689c10f48cd4" title="Pose&#39;s spatial coordinates norm.">norm</a>()<span class="keyword"> const </span>{
<a name="l00553"></a>00553 <span class="keywordflow">return</span> sqrt(<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(x)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(y)+<a class="code" href="namespacemrpt_1_1utils.html#a9e4c229e3e0ff2041d65fa9748ce5f6b" title="Inline function for the square of a number.">square</a>(z));
<a name="l00554"></a>00554 }<span class="comment"></span>
<a name="l00555"></a>00555 <span class="comment"> /** Gets the pose as a vector of doubles. */</span>
<a name="l00556"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a2a1dac159d31019fbc71f9779a1afc1f">00556</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a2a1dac159d31019fbc71f9779a1afc1f" title="Gets the pose as a vector of doubles.">getAsVector</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &v)<span class="keyword"> const </span>{
<a name="l00557"></a>00557 v.resize(7);
<a name="l00558"></a>00558 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<7;i++) v[i]=(*<span class="keyword">this</span>)[i];
<a name="l00559"></a>00559 }<span class="comment"></span>
<a name="l00560"></a>00560 <span class="comment"> /** Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]"</span>
<a name="l00561"></a>00561 <span class="comment"> * \sa fromString</span>
<a name="l00562"></a>00562 <span class="comment"> */</span>
<a name="l00563"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#aad5b6428bf78856042b8b67e76dfbf86">00563</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#aad5b6428bf78856042b8b67e76dfbf86" title="Returns a human-readable textual representation of the object as &quot;[x y z qr...">asString</a>(std::string &s)<span class="keyword"> const </span>{ s = <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f %f %f %f %f %f]"</span>,x,y,z,qr,qx,qy,qz); }
<a name="l00564"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a7a191735aaf9707f516ad2b7d0d1d316">00564</a> <span class="keyword">inline</span> std::string <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a7a191735aaf9707f516ad2b7d0d1d316">asString</a>()<span class="keyword"> const </span>{ std::string s; <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a7a191735aaf9707f516ad2b7d0d1d316">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00565"></a>00565 <span class="comment"></span>
<a name="l00566"></a>00566 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" )</span>
<a name="l00567"></a>00567 <span class="comment"> * \sa asString</span>
<a name="l00568"></a>00568 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00569"></a>00569 <span class="comment"> */</span>
<a name="l00570"></a>00570 <span class="keywordtype">void</span> fromString(<span class="keyword">const</span> std::string &s);
<a name="l00571"></a><a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a51bfcb06034c33335a6887ffae9be098">00571</a> <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d_quat.html#a51bfcb06034c33335a6887ffae9be098">size</a>() { <span class="keywordflow">return</span> 7; }
<a name="l00572"></a>00572 };
<a name="l00573"></a>00573 <span class="preprocessor">#pragma pack(pop)</span>
<a name="l00574"></a>00574 <span class="preprocessor"></span><span class="comment"> /**</span>
<a name="l00575"></a>00575 <span class="comment"> * Unary minus operator for 3D points.</span>
<a name="l00576"></a>00576 <span class="comment"> */</span>
<a name="l00577"></a><a class="code" href="namespacemrpt_1_1math.html#a41dd79738f6a27f4b63ee22080eec843">00577</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="namespacemrpt_1_1math.html#a6e196057151701ed466674b4c04745c1" title="Operator ARRAY &lt;- ARRAY - VECTORorARRAY.">operator-</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1) {
<a name="l00578"></a>00578 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(-p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,-p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,-p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>);
<a name="l00579"></a>00579 }<span class="comment"></span>
<a name="l00580"></a>00580 <span class="comment"> /**</span>
<a name="l00581"></a>00581 <span class="comment"> * Exact comparison between 2D points.</span>
<a name="l00582"></a>00582 <span class="comment"> */</span>
<a name="l00583"></a><a class="code" href="namespacemrpt_1_1math.html#aef7a1b4acfd8df1780f54ccf2725bec6">00583</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p2) {
<a name="l00584"></a>00584 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>);
<a name="l00585"></a>00585 }<span class="comment"></span>
<a name="l00586"></a>00586 <span class="comment"> /**</span>
<a name="l00587"></a>00587 <span class="comment"> * Exact comparison between 2D points.</span>
<a name="l00588"></a>00588 <span class="comment"> */</span>
<a name="l00589"></a><a class="code" href="namespacemrpt_1_1math.html#a30e184e42686c929b057a782c5420381">00589</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p2) {
<a name="l00590"></a>00590 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>);
<a name="l00591"></a>00591 }<span class="comment"></span>
<a name="l00592"></a>00592 <span class="comment"> /**</span>
<a name="l00593"></a>00593 <span class="comment"> * Exact comparison between 3D points.</span>
<a name="l00594"></a>00594 <span class="comment"> */</span>
<a name="l00595"></a><a class="code" href="namespacemrpt_1_1math.html#a3d8fa05b84f5283269f4f4d06f0136bd">00595</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2) {
<a name="l00596"></a>00596 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>);
<a name="l00597"></a>00597 }<span class="comment"></span>
<a name="l00598"></a>00598 <span class="comment"> /**</span>
<a name="l00599"></a>00599 <span class="comment"> * Exact comparison between 3D points.</span>
<a name="l00600"></a>00600 <span class="comment"> */</span>
<a name="l00601"></a><a class="code" href="namespacemrpt_1_1math.html#a0ce1351e12712693cfbe5318fb8acae1">00601</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2) {
<a name="l00602"></a>00602 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>);
<a name="l00603"></a>00603 }<span class="comment"></span>
<a name="l00604"></a>00604 <span class="comment"> /**</span>
<a name="l00605"></a>00605 <span class="comment"> * Exact comparison between 2D poses, taking possible cycles into account.</span>
<a name="l00606"></a>00606 <span class="comment"> */</span>
<a name="l00607"></a><a class="code" href="namespacemrpt_1_1math.html#a3b0d2c0eb8f001423ccd854814a92187">00607</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p2) {
<a name="l00608"></a>00608 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264" title="X coordinate.">x</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264" title="X coordinate.">x</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387" title="Y coordinate.">y</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387" title="Y coordinate.">y</a>)&&(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f" title="Phi coordinate.">phi</a>)==<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f" title="Phi coordinate.">phi</a>));
<a name="l00609"></a>00609 }<span class="comment"></span>
<a name="l00610"></a>00610 <span class="comment"> /**</span>
<a name="l00611"></a>00611 <span class="comment"> * Exact comparison between 2D poses, taking possible cycles into account.</span>
<a name="l00612"></a>00612 <span class="comment"> */</span>
<a name="l00613"></a><a class="code" href="namespacemrpt_1_1math.html#af6339aa7f1cdc6c0a7049756f9417d2b">00613</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p2) {
<a name="l00614"></a>00614 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264" title="X coordinate.">x</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264" title="X coordinate.">x</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387" title="Y coordinate.">y</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387" title="Y coordinate.">y</a>)||(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f" title="Phi coordinate.">phi</a>)!=<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f" title="Phi coordinate.">phi</a>));
<a name="l00615"></a>00615 }<span class="comment"></span>
<a name="l00616"></a>00616 <span class="comment"> /**</span>
<a name="l00617"></a>00617 <span class="comment"> * Exact comparison between 3D poses, taking possible cycles into account.</span>
<a name="l00618"></a>00618 <span class="comment"> */</span>
<a name="l00619"></a><a class="code" href="namespacemrpt_1_1math.html#a315107e68e10847038343a6bb609e49d">00619</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p2) {
<a name="l00620"></a>00620 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a58c4aff2e15ffe59fcd033a1b8a9a233" title="X coordinate.">x</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a58c4aff2e15ffe59fcd033a1b8a9a233" title="X coordinate.">x</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a0fc71229e42e72ead9652312ae69259a" title="Y coordinate.">y</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a0fc71229e42e72ead9652312ae69259a" title="Y coordinate.">y</a>)&&(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a62c86a3ad1d59501afca2b30cd4f9d76" title="Z coordinate.">z</a>==p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a62c86a3ad1d59501afca2b30cd4f9d76" title="Z coordinate.">z</a>)&&(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#af57c4381902066aac35d93746ed9dff9" title="Yaw coordinate (rotation angle over Z axis).">yaw</a>)==<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#af57c4381902066aac35d93746ed9dff9" title="Yaw coordinate (rotation angle over Z axis).">yaw</a>))&&(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#acab2927c55a45e830e741220339bc580" title="Pitch coordinate (rotation angle over Y axis).">pitch</a>)==<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#acab2927c55a45e830e741220339bc580" title="Pitch coordinate (rotation angle over Y axis).">pitch</a>))&&(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a6ca364705b1001f112cf423ad68b5a98" title="Roll coordinate (rotation angle over X coordinate).">roll</a>)==<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a6ca364705b1001f112cf423ad68b5a98" title="Roll coordinate (rotation angle over X coordinate).">roll</a>));
<a name="l00621"></a>00621 }<span class="comment"></span>
<a name="l00622"></a>00622 <span class="comment"> /**</span>
<a name="l00623"></a>00623 <span class="comment"> * Exact comparison between 3D poses, taking possible cycles into account.</span>
<a name="l00624"></a>00624 <span class="comment"> */</span>
<a name="l00625"></a><a class="code" href="namespacemrpt_1_1math.html#a2696598ea83b926010a0457c53bfe285">00625</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p2) {
<a name="l00626"></a>00626 <span class="keywordflow">return</span> (p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a58c4aff2e15ffe59fcd033a1b8a9a233" title="X coordinate.">x</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a58c4aff2e15ffe59fcd033a1b8a9a233" title="X coordinate.">x</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a0fc71229e42e72ead9652312ae69259a" title="Y coordinate.">y</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a0fc71229e42e72ead9652312ae69259a" title="Y coordinate.">y</a>)||(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a62c86a3ad1d59501afca2b30cd4f9d76" title="Z coordinate.">z</a>!=p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a62c86a3ad1d59501afca2b30cd4f9d76" title="Z coordinate.">z</a>)||(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#af57c4381902066aac35d93746ed9dff9" title="Yaw coordinate (rotation angle over Z axis).">yaw</a>)!=<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#af57c4381902066aac35d93746ed9dff9" title="Yaw coordinate (rotation angle over Z axis).">yaw</a>))||(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#acab2927c55a45e830e741220339bc580" title="Pitch coordinate (rotation angle over Y axis).">pitch</a>)!=<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#acab2927c55a45e830e741220339bc580" title="Pitch coordinate (rotation angle over Y axis).">pitch</a>))||(<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p1.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a6ca364705b1001f112cf423ad68b5a98" title="Roll coordinate (rotation angle over X coordinate).">roll</a>)!=<a class="code" href="namespacemrpt_1_1math.html#ae47d6345832411712f6f029c774b7acc" title="Modifies the given angle to translate it into the [0,2pi[ range.">mrpt::math::wrapTo2Pi</a>(p2.<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html#a6ca364705b1001f112cf423ad68b5a98" title="Roll coordinate (rotation angle over X coordinate).">roll</a>));
<a name="l00627"></a>00627 }
<a name="l00628"></a>00628 <span class="comment">//Forward declarations</span>
<a name="l00629"></a><a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">00629</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a>;
<a name="l00630"></a><a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">00630</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a>;
<a name="l00631"></a><a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">00631</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a>;
<a name="l00632"></a><a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">00632</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a>;
<a name="l00633"></a>00633
<a name="l00634"></a>00634 <span class="comment">//Pragma defined to ensure no structure packing</span>
<a name="l00635"></a>00635 <span class="preprocessor">#pragma pack(push,1)</span>
<a name="l00636"></a>00636 <span class="preprocessor"></span><span class="comment"> /**</span>
<a name="l00637"></a>00637 <span class="comment"> * 2D segment, consisting of two points.</span>
<a name="l00638"></a>00638 <span class="comment"> * \sa TSegment3D,TLine2D,TPolygon2D,TPoint2D</span>
<a name="l00639"></a>00639 <span class="comment"> */</span>
<a name="l00640"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html">00640</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> {
<a name="l00641"></a>00641 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00642"></a>00642 <span class="comment"> /**</span>
<a name="l00643"></a>00643 <span class="comment"> * Origin point.</span>
<a name="l00644"></a>00644 <span class="comment"> */</span>
<a name="l00645"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b">00645</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> point1;<span class="comment"></span>
<a name="l00646"></a>00646 <span class="comment"> /**</span>
<a name="l00647"></a>00647 <span class="comment"> * Destiny point.</span>
<a name="l00648"></a>00648 <span class="comment"> */</span>
<a name="l00649"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91">00649</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> point2;<span class="comment"></span>
<a name="l00650"></a>00650 <span class="comment"> /**</span>
<a name="l00651"></a>00651 <span class="comment"> * Segment length.</span>
<a name="l00652"></a>00652 <span class="comment"> */</span>
<a name="l00653"></a>00653 <span class="keywordtype">double</span> length() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00654"></a>00654 <span class="comment"> /**</span>
<a name="l00655"></a>00655 <span class="comment"> * Distance to point.</span>
<a name="l00656"></a>00656 <span class="comment"> */</span>
<a name="l00657"></a>00657 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00658"></a>00658 <span class="comment"> /**</span>
<a name="l00659"></a>00659 <span class="comment"> * Distance with sign to point (sign indicates which side the point is).</span>
<a name="l00660"></a>00660 <span class="comment"> */</span>
<a name="l00661"></a>00661 <span class="keywordtype">double</span> signedDistance(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00662"></a>00662 <span class="comment"> /**</span>
<a name="l00663"></a>00663 <span class="comment"> * Check whether a point is inside a segment.</span>
<a name="l00664"></a>00664 <span class="comment"> */</span>
<a name="l00665"></a>00665 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00666"></a>00666 <span class="comment"> /**</span>
<a name="l00667"></a>00667 <span class="comment"> * Unsafe point access using [] operator, intended for loops.</span>
<a name="l00668"></a>00668 <span class="comment"> */</span>
<a name="l00669"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#aa7fa2ad13be504e4130641ee864cb651">00669</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#aa7fa2ad13be504e4130641ee864cb651" title="Unsafe point access using [] operator, intended for loops.">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00670"></a>00670 <span class="keywordflow">return</span> (&point1)[i];
<a name="l00671"></a>00671 }<span class="comment"></span>
<a name="l00672"></a>00672 <span class="comment"> /**</span>
<a name="l00673"></a>00673 <span class="comment"> * Unsafe point access using [] operator, intended for loops.</span>
<a name="l00674"></a>00674 <span class="comment"> */</span>
<a name="l00675"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#aa51a0827ed95fa5e31d7bb9c0b78f320">00675</a> <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#aa51a0827ed95fa5e31d7bb9c0b78f320" title="Unsafe point access using [] operator, intended for loops.">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00676"></a>00676 <span class="keywordflow">return</span> (&point1)[i];
<a name="l00677"></a>00677 }<span class="comment"></span>
<a name="l00678"></a>00678 <span class="comment"> /**</span>
<a name="l00679"></a>00679 <span class="comment"> * Project into 3D space, setting the z to 0.</span>
<a name="l00680"></a>00680 <span class="comment"> */</span>
<a name="l00681"></a>00681 <span class="keywordtype">void</span> generate3DObject(<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00682"></a>00682 <span class="comment"> /**</span>
<a name="l00683"></a>00683 <span class="comment"> * Segment's central point.</span>
<a name="l00684"></a>00684 <span class="comment"> */</span>
<a name="l00685"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a1e31240f54664dae46056cbf2b00e7aa">00685</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a1e31240f54664dae46056cbf2b00e7aa" title="Segment&#39;s central point.">getCenter</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p)<span class="keyword"> const </span>{
<a name="l00686"></a>00686 p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>=(point1.x+point2.x)/2;
<a name="l00687"></a>00687 p.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>=(point1.y+point2.y)/2;
<a name="l00688"></a>00688 }<span class="comment"></span>
<a name="l00689"></a>00689 <span class="comment"> /**</span>
<a name="l00690"></a>00690 <span class="comment"> * Constructor from both points.</span>
<a name="l00691"></a>00691 <span class="comment"> */</span>
<a name="l00692"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a443db0e4874d44a979bb02b40a702a16">00692</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a443db0e4874d44a979bb02b40a702a16" title="Constructor from both points.">TSegment2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p2):point1(p1),point2(p2) {}<span class="comment"></span>
<a name="l00693"></a>00693 <span class="comment"> /**</span>
<a name="l00694"></a>00694 <span class="comment"> * Fast default constructor. Initializes to garbage.</span>
<a name="l00695"></a>00695 <span class="comment"> */</span>
<a name="l00696"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a811f4347a0b517b0083c87845f8a4fc7">00696</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a811f4347a0b517b0083c87845f8a4fc7" title="Fast default constructor.">TSegment2D</a>() {}<span class="comment"></span>
<a name="l00697"></a>00697 <span class="comment"> /**</span>
<a name="l00698"></a>00698 <span class="comment"> * Explicit constructor from 3D object, discarding the z.</span>
<a name="l00699"></a>00699 <span class="comment"> */</span>
<a name="l00700"></a>00700 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s);
<a name="l00701"></a>00701
<a name="l00702"></a>00702 <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#abafe308dd59b537a3501d3dfe0ed1c16">operator<</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s) <span class="keyword">const</span>;
<a name="l00703"></a>00703 };<span class="comment"></span>
<a name="l00704"></a>00704 <span class="comment"> /**</span>
<a name="l00705"></a>00705 <span class="comment"> * 3D segment, consisting of two points.</span>
<a name="l00706"></a>00706 <span class="comment"> * \sa TSegment2D,TLine3D,TPlane,TPolygon3D,TPoint3D</span>
<a name="l00707"></a>00707 <span class="comment"> */</span>
<a name="l00708"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html">00708</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> {
<a name="l00709"></a>00709 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00710"></a>00710 <span class="comment"> /**</span>
<a name="l00711"></a>00711 <span class="comment"> * Origin point.</span>
<a name="l00712"></a>00712 <span class="comment"> */</span>
<a name="l00713"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a">00713</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> point1;<span class="comment"></span>
<a name="l00714"></a>00714 <span class="comment"> /**</span>
<a name="l00715"></a>00715 <span class="comment"> * Destiny point.</span>
<a name="l00716"></a>00716 <span class="comment"> */</span>
<a name="l00717"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79">00717</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> point2;<span class="comment"></span>
<a name="l00718"></a>00718 <span class="comment"> /**</span>
<a name="l00719"></a>00719 <span class="comment"> * Segment length.</span>
<a name="l00720"></a>00720 <span class="comment"> */</span>
<a name="l00721"></a>00721 <span class="keywordtype">double</span> length() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00722"></a>00722 <span class="comment"> /**</span>
<a name="l00723"></a>00723 <span class="comment"> * Distance to point.</span>
<a name="l00724"></a>00724 <span class="comment"> */</span>
<a name="l00725"></a>00725 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00726"></a>00726 <span class="comment"> /**</span>
<a name="l00727"></a>00727 <span class="comment"> * Check whether a point is inside the segment.</span>
<a name="l00728"></a>00728 <span class="comment"> */</span>
<a name="l00729"></a>00729 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00730"></a>00730 <span class="comment"> /**</span>
<a name="l00731"></a>00731 <span class="comment"> * Unsafe point access using [] operator, intended for loops.</span>
<a name="l00732"></a>00732 <span class="comment"> */</span>
<a name="l00733"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#abbd139c2854cfdc719b3114c590bda3d">00733</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#abbd139c2854cfdc719b3114c590bda3d" title="Unsafe point access using [] operator, intended for loops.">operator[]</a>(<span class="keywordtype">size_t</span> i) {
<a name="l00734"></a>00734 <span class="keywordflow">return</span> (&point1)[i];
<a name="l00735"></a>00735 }<span class="comment"></span>
<a name="l00736"></a>00736 <span class="comment"> /**</span>
<a name="l00737"></a>00737 <span class="comment"> * Unsafe point access using [] operator, intended for loops.</span>
<a name="l00738"></a>00738 <span class="comment"> */</span>
<a name="l00739"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a3d0627e3677ed4f76b44645517527b49">00739</a> <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a3d0627e3677ed4f76b44645517527b49" title="Unsafe point access using [] operator, intended for loops.">operator[]</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00740"></a>00740 <span class="keywordflow">return</span> (&point1)[i];
<a name="l00741"></a>00741 }<span class="comment"></span>
<a name="l00742"></a>00742 <span class="comment"> /**</span>
<a name="l00743"></a>00743 <span class="comment"> * Projection into 2D space, discarding the z.</span>
<a name="l00744"></a>00744 <span class="comment"> */</span>
<a name="l00745"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a25562fa49bb2b109f1660f8d9fa2608e">00745</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a25562fa49bb2b109f1660f8d9fa2608e" title="Projection into 2D space, discarding the z.">generate2DObject</a>(<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s)<span class="keyword"> const </span>{
<a name="l00746"></a>00746 s=<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(*<span class="keyword">this</span>);
<a name="l00747"></a>00747 }<span class="comment"></span>
<a name="l00748"></a>00748 <span class="comment"> /**</span>
<a name="l00749"></a>00749 <span class="comment"> * Segment's central point.</span>
<a name="l00750"></a>00750 <span class="comment"> */</span>
<a name="l00751"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a92a8c8ae4dcb5bede8e6e0fd028e4477">00751</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a92a8c8ae4dcb5bede8e6e0fd028e4477" title="Segment&#39;s central point.">getCenter</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l00752"></a>00752 p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>=(point1.x+point2.x)/2;
<a name="l00753"></a>00753 p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>=(point1.y+point2.y)/2;
<a name="l00754"></a>00754 p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>=(point1.z+point2.z)/2;
<a name="l00755"></a>00755 }<span class="comment"></span>
<a name="l00756"></a>00756 <span class="comment"> /**</span>
<a name="l00757"></a>00757 <span class="comment"> * Constructor from both points.</span>
<a name="l00758"></a>00758 <span class="comment"> */</span>
<a name="l00759"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#af02d546bacd9d6ec93025e179bdbb40e">00759</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#af02d546bacd9d6ec93025e179bdbb40e" title="Constructor from both points.">TSegment3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2):point1(p1),point2(p2) {}<span class="comment"></span>
<a name="l00760"></a>00760 <span class="comment"> /**</span>
<a name="l00761"></a>00761 <span class="comment"> * Fast default constructor. Initializes to garbage.</span>
<a name="l00762"></a>00762 <span class="comment"> */</span>
<a name="l00763"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#adbbd39f3e5247feb12dbe4bcfc6e178f">00763</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#adbbd39f3e5247feb12dbe4bcfc6e178f" title="Fast default constructor.">TSegment3D</a>() {}<span class="comment"></span>
<a name="l00764"></a>00764 <span class="comment"> /**</span>
<a name="l00765"></a>00765 <span class="comment"> * Constructor from 2D object. Sets the z to zero.</span>
<a name="l00766"></a>00766 <span class="comment"> */</span>
<a name="l00767"></a><a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#af80d7baa2f944bdf4642e579c0774718">00767</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#af80d7baa2f944bdf4642e579c0774718" title="Constructor from 2D object.">TSegment3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s):point1(s.point1),point2(s.point2) {}
<a name="l00768"></a>00768
<a name="l00769"></a>00769 <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#abafe308dd59b537a3501d3dfe0ed1c16">operator<</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s) <span class="keyword">const</span>;
<a name="l00770"></a>00770 };
<a name="l00771"></a>00771 <span class="preprocessor">#pragma pack(pop)</span>
<a name="l00772"></a>00772 <span class="preprocessor"></span>
<a name="l00773"></a><a class="code" href="namespacemrpt_1_1math.html#af6b5b50bad9ca722909c044f785589aa">00773</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s2) {
<a name="l00774"></a>00774 <span class="keywordflow">return</span> (s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a>==s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a>)&&(s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>==s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>);
<a name="l00775"></a>00775 }
<a name="l00776"></a>00776
<a name="l00777"></a><a class="code" href="namespacemrpt_1_1math.html#ac847cd29b920a25d160d642afc1ca5f5">00777</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s2) {
<a name="l00778"></a>00778 <span class="keywordflow">return</span> (s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a>!=s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a>)||(s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>!=s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>);
<a name="l00779"></a>00779 }
<a name="l00780"></a>00780
<a name="l00781"></a><a class="code" href="namespacemrpt_1_1math.html#a0759bd5ff55164037663876bb5c589e5">00781</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator==</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s2) {
<a name="l00782"></a>00782 <span class="keywordflow">return</span> (s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>==s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>)&&(s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>==s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>);
<a name="l00783"></a>00783 }
<a name="l00784"></a>00784
<a name="l00785"></a><a class="code" href="namespacemrpt_1_1math.html#a3e99b3d8a2aa7739c50ee0c6e33d5556">00785</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator!=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s2) {
<a name="l00786"></a>00786 <span class="keywordflow">return</span> (s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>!=s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>)||(s1.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>!=s2.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>);
<a name="l00787"></a>00787 }
<a name="l00788"></a>00788 <span class="comment"></span>
<a name="l00789"></a>00789 <span class="comment"> /**</span>
<a name="l00790"></a>00790 <span class="comment"> * 2D line without bounds, represented by its equation \f$Ax+By+C=0\f$.</span>
<a name="l00791"></a>00791 <span class="comment"> * \sa TLine3D,TSegment2D,TPolygon2D,TPoint2D</span>
<a name="l00792"></a>00792 <span class="comment"> */</span>
<a name="l00793"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html">00793</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> {
<a name="l00794"></a>00794 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00795"></a>00795 <span class="comment"> /**</span>
<a name="l00796"></a>00796 <span class="comment"> * Line coefficients, stored as an array: \f$\left[A,B,C\right]\f$.</span>
<a name="l00797"></a>00797 <span class="comment"> */</span>
<a name="l00798"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00">00798</a> <span class="keywordtype">double</span> coefs[3];<span class="comment"></span>
<a name="l00799"></a>00799 <span class="comment"> /**</span>
<a name="l00800"></a>00800 <span class="comment"> * Evaluate point in the line's equation.</span>
<a name="l00801"></a>00801 <span class="comment"> */</span>
<a name="l00802"></a>00802 <span class="keywordtype">double</span> evaluatePoint(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00803"></a>00803 <span class="comment"> /**</span>
<a name="l00804"></a>00804 <span class="comment"> * Check whether a point is inside the line.</span>
<a name="l00805"></a>00805 <span class="comment"> */</span>
<a name="l00806"></a>00806 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00807"></a>00807 <span class="comment"> /**</span>
<a name="l00808"></a>00808 <span class="comment"> * Distance from a given point.</span>
<a name="l00809"></a>00809 <span class="comment"> */</span>
<a name="l00810"></a>00810 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00811"></a>00811 <span class="comment"> /**</span>
<a name="l00812"></a>00812 <span class="comment"> * Distance with sign from a given point (sign indicates side).</span>
<a name="l00813"></a>00813 <span class="comment"> */</span>
<a name="l00814"></a>00814 <span class="keywordtype">double</span> signedDistance(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00815"></a>00815 <span class="comment"> /**</span>
<a name="l00816"></a>00816 <span class="comment"> * Get line's normal vector.</span>
<a name="l00817"></a>00817 <span class="comment"> */</span>
<a name="l00818"></a>00818 <span class="keywordtype">void</span> getNormalVector(<span class="keywordtype">double</span> (&vector)[2]) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00819"></a>00819 <span class="comment"> /**</span>
<a name="l00820"></a>00820 <span class="comment"> * Unitarize line's normal vector.</span>
<a name="l00821"></a>00821 <span class="comment"> */</span>
<a name="l00822"></a>00822 <span class="keywordtype">void</span> unitarize();<span class="comment"></span>
<a name="l00823"></a>00823 <span class="comment"> /**</span>
<a name="l00824"></a>00824 <span class="comment"> * Get line's normal vector after unitarizing line.</span>
<a name="l00825"></a>00825 <span class="comment"> */</span>
<a name="l00826"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#afd78002b85ca6101060812106b7fa2f3">00826</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#afd78002b85ca6101060812106b7fa2f3" title="Get line&#39;s normal vector after unitarizing line.">getUnitaryNormalVector</a>(<span class="keywordtype">double</span> (&vector)[2]) {
<a name="l00827"></a>00827 unitarize();
<a name="l00828"></a>00828 getNormalVector(vector);
<a name="l00829"></a>00829 }<span class="comment"></span>
<a name="l00830"></a>00830 <span class="comment"> /**</span>
<a name="l00831"></a>00831 <span class="comment"> * Get line's director vector.</span>
<a name="l00832"></a>00832 <span class="comment"> */</span>
<a name="l00833"></a>00833 <span class="keywordtype">void</span> getDirectorVector(<span class="keywordtype">double</span> (&vector)[2]) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00834"></a>00834 <span class="comment"> /**</span>
<a name="l00835"></a>00835 <span class="comment"> * Unitarize line and then get director vector.</span>
<a name="l00836"></a>00836 <span class="comment"> */</span>
<a name="l00837"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#a893248f4287a5b60efbea7504117e95b">00837</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#a893248f4287a5b60efbea7504117e95b" title="Unitarize line and then get director vector.">getUnitaryDirectorVector</a>(<span class="keywordtype">double</span> (&vector)[2]) {
<a name="l00838"></a>00838 unitarize();
<a name="l00839"></a>00839 getDirectorVector(vector);
<a name="l00840"></a>00840 }<span class="comment"></span>
<a name="l00841"></a>00841 <span class="comment"> /**</span>
<a name="l00842"></a>00842 <span class="comment"> * Project into 3D space, setting the z to 0.</span>
<a name="l00843"></a>00843 <span class="comment"> */</span>
<a name="l00844"></a>00844 <span class="keywordtype">void</span> generate3DObject(<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &l) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00845"></a>00845 <span class="comment"> /**</span>
<a name="l00846"></a>00846 <span class="comment"> * Get a pose2D whose X axis corresponds to the line.</span>
<a name="l00847"></a>00847 <span class="comment"> * \sa mrpt::poses::CPose2D.</span>
<a name="l00848"></a>00848 <span class="comment"> */</span>
<a name="l00849"></a>00849 <span class="keywordtype">void</span> getAsPose2D(<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &outPose) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00850"></a>00850 <span class="comment"> /**</span>
<a name="l00851"></a>00851 <span class="comment"> * Get a pose2D whose X axis corresponds to the line, forcing the base point to one given.</span>
<a name="l00852"></a>00852 <span class="comment"> * \throw logic_error if the point is not inside the line.</span>
<a name="l00853"></a>00853 <span class="comment"> * \sa mrpt::poses::CPose2D.</span>
<a name="l00854"></a>00854 <span class="comment"> */</span>
<a name="l00855"></a>00855 <span class="keywordtype">void</span> getAsPose2DForcingOrigin(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &origin,<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &outPose) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00856"></a>00856 <span class="comment"> /**</span>
<a name="l00857"></a>00857 <span class="comment"> * Constructor from two points, through which the line will pass.</span>
<a name="l00858"></a>00858 <span class="comment"> * \throw logic_error if both points are the same</span>
<a name="l00859"></a>00859 <span class="comment"> */</span>
<a name="l00860"></a>00860 <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p2) <span class="keywordflow">throw</span>(std::logic_error);<span class="comment"></span>
<a name="l00861"></a>00861 <span class="comment"> /**</span>
<a name="l00862"></a>00862 <span class="comment"> * Constructor from a segment.</span>
<a name="l00863"></a>00863 <span class="comment"> */</span>
<a name="l00864"></a>00864 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s);<span class="comment"></span>
<a name="l00865"></a>00865 <span class="comment"> /**</span>
<a name="l00866"></a>00866 <span class="comment"> * Fast default constructor. Initializes to garbage.</span>
<a name="l00867"></a>00867 <span class="comment"> */</span>
<a name="l00868"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#a2bf63eda14216acb0d9a5cd2fd95970c">00868</a> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#a2bf63eda14216acb0d9a5cd2fd95970c" title="Fast default constructor.">TLine2D</a>() {}<span class="comment"></span>
<a name="l00869"></a>00869 <span class="comment"> /**</span>
<a name="l00870"></a>00870 <span class="comment"> * Constructor from line's coefficients.</span>
<a name="l00871"></a>00871 <span class="comment"> */</span>
<a name="l00872"></a><a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#afbd73de8446c7dc7ab3dbcdd5499dfb4">00872</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#afbd73de8446c7dc7ab3dbcdd5499dfb4" title="Constructor from line&#39;s coefficients.">TLine2D</a>(<span class="keywordtype">double</span> A,<span class="keywordtype">double</span> B,<span class="keywordtype">double</span> C) {
<a name="l00873"></a>00873 coefs[0]=A;
<a name="l00874"></a>00874 coefs[1]=B;
<a name="l00875"></a>00875 coefs[2]=C;
<a name="l00876"></a>00876 }<span class="comment"></span>
<a name="l00877"></a>00877 <span class="comment"> /**</span>
<a name="l00878"></a>00878 <span class="comment"> * Construction from 3D object, discarding the Z.</span>
<a name="l00879"></a>00879 <span class="comment"> * \throw std::logic_error if the line is normal to the XY plane.</span>
<a name="l00880"></a>00880 <span class="comment"> */</span>
<a name="l00881"></a>00881 <span class="keyword">explicit</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &l);
<a name="l00882"></a>00882 };
<a name="l00883"></a>00883 <span class="comment"></span>
<a name="l00884"></a>00884 <span class="comment"> /**</span>
<a name="l00885"></a>00885 <span class="comment"> * 3D line, represented by a base point and a director vector.</span>
<a name="l00886"></a>00886 <span class="comment"> * \sa TLine2D,TSegment3D,TPlane,TPolygon3D,TPoint3D</span>
<a name="l00887"></a>00887 <span class="comment"> */</span>
<a name="l00888"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html">00888</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> {
<a name="l00889"></a>00889 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00890"></a>00890 <span class="comment"> /**</span>
<a name="l00891"></a>00891 <span class="comment"> * Base point.</span>
<a name="l00892"></a>00892 <span class="comment"> */</span>
<a name="l00893"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#ad82681ef5a27b2bd32e29961f2bf3ec4">00893</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> pBase;<span class="comment"></span>
<a name="l00894"></a>00894 <span class="comment"> /**</span>
<a name="l00895"></a>00895 <span class="comment"> * Director vector.</span>
<a name="l00896"></a>00896 <span class="comment"> */</span>
<a name="l00897"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe">00897</a> <span class="keywordtype">double</span> director[3];<span class="comment"></span>
<a name="l00898"></a>00898 <span class="comment"> /**</span>
<a name="l00899"></a>00899 <span class="comment"> * Check whether a point is inside the line.</span>
<a name="l00900"></a>00900 <span class="comment"> */</span>
<a name="l00901"></a>00901 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00902"></a>00902 <span class="comment"> /**</span>
<a name="l00903"></a>00903 <span class="comment"> * Distance between the line and a point.</span>
<a name="l00904"></a>00904 <span class="comment"> */</span>
<a name="l00905"></a>00905 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00906"></a>00906 <span class="comment"> /**</span>
<a name="l00907"></a>00907 <span class="comment"> * Unitarize director vector.</span>
<a name="l00908"></a>00908 <span class="comment"> */</span>
<a name="l00909"></a>00909 <span class="keywordtype">void</span> unitarize();<span class="comment"></span>
<a name="l00910"></a>00910 <span class="comment"> /**</span>
<a name="l00911"></a>00911 <span class="comment"> * Get director vector.</span>
<a name="l00912"></a>00912 <span class="comment"> */</span>
<a name="l00913"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a9bafeb5d9c3b5b266270728e2c2ad8e5">00913</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a9bafeb5d9c3b5b266270728e2c2ad8e5" title="Get director vector.">getDirectorVector</a>(<span class="keywordtype">double</span> (&vector)[3])<span class="keyword"> const </span>{
<a name="l00914"></a>00914 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<3;i++) vector[i]=director[i];
<a name="l00915"></a>00915 }<span class="comment"></span>
<a name="l00916"></a>00916 <span class="comment"> /**</span>
<a name="l00917"></a>00917 <span class="comment"> * Unitarize and then get director vector.</span>
<a name="l00918"></a>00918 <span class="comment"> */</span>
<a name="l00919"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#ad576c07105cd8e221c4705d1f01ff0a9">00919</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#ad576c07105cd8e221c4705d1f01ff0a9" title="Unitarize and then get director vector.">getUnitaryDirectorVector</a>(<span class="keywordtype">double</span> (&vector)[3]) {
<a name="l00920"></a>00920 unitarize();
<a name="l00921"></a>00921 getDirectorVector(vector);
<a name="l00922"></a>00922 }<span class="comment"></span>
<a name="l00923"></a>00923 <span class="comment"> /**</span>
<a name="l00924"></a>00924 <span class="comment"> * Project into 2D space, discarding the Z coordinate.</span>
<a name="l00925"></a>00925 <span class="comment"> * \throw std::logic_error if the line's director vector is orthogonal to the XY plane.</span>
<a name="l00926"></a>00926 <span class="comment"> */</span>
<a name="l00927"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a90e4ea92b1403dac1390ccf3aded31c9">00927</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a90e4ea92b1403dac1390ccf3aded31c9" title="Project into 2D space, discarding the Z coordinate.">generate2DObject</a>(<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &l)<span class="keyword"> const </span>{
<a name="l00928"></a>00928 l=<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(*<span class="keyword">this</span>);
<a name="l00929"></a>00929 }<span class="comment"></span>
<a name="l00930"></a>00930 <span class="comment"> /**</span>
<a name="l00931"></a>00931 <span class="comment"> * Constructor from two points, through which the line will pass.</span>
<a name="l00932"></a>00932 <span class="comment"> * \throw std::logic_error if both points are the same.</span>
<a name="l00933"></a>00933 <span class="comment"> */</span>
<a name="l00934"></a>00934 <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2) <span class="keywordflow">throw</span>(std::logic_error);<span class="comment"></span>
<a name="l00935"></a>00935 <span class="comment"> /**</span>
<a name="l00936"></a>00936 <span class="comment"> * Constructor from 3D segment.</span>
<a name="l00937"></a>00937 <span class="comment"> */</span>
<a name="l00938"></a>00938 <span class="keyword">explicit</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s);<span class="comment"></span>
<a name="l00939"></a>00939 <span class="comment"> /**</span>
<a name="l00940"></a>00940 <span class="comment"> * Fast default constructor. Initializes to garbage.</span>
<a name="l00941"></a>00941 <span class="comment"> */</span>
<a name="l00942"></a><a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a0665ebd41d4154fb90383003c1a0245d">00942</a> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a0665ebd41d4154fb90383003c1a0245d" title="Fast default constructor.">TLine3D</a>() {}<span class="comment"></span>
<a name="l00943"></a>00943 <span class="comment"> /**</span>
<a name="l00944"></a>00944 <span class="comment"> * Implicit constructor from 2D object. Zeroes the z.</span>
<a name="l00945"></a>00945 <span class="comment"> */</span>
<a name="l00946"></a>00946 <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &l);
<a name="l00947"></a>00947 };
<a name="l00948"></a>00948 <span class="comment"></span>
<a name="l00949"></a>00949 <span class="comment"> /**</span>
<a name="l00950"></a>00950 <span class="comment"> * 3D Plane, represented by its equation \f$Ax+By+Cz+D=0\f$</span>
<a name="l00951"></a>00951 <span class="comment"> * \sa TSegment3D,TLine3D,TPolygon3D,TPoint3D</span>
<a name="l00952"></a>00952 <span class="comment"> */</span>
<a name="l00953"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html">00953</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> {
<a name="l00954"></a>00954 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00955"></a>00955 <span class="comment"> /**</span>
<a name="l00956"></a>00956 <span class="comment"> * Plane coefficients, stored as an array: \f$\left[A,B,C,D\right]\f$</span>
<a name="l00957"></a>00957 <span class="comment"> */</span>
<a name="l00958"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9">00958</a> <span class="keywordtype">double</span> coefs[4];<span class="comment"></span>
<a name="l00959"></a>00959 <span class="comment"> /**</span>
<a name="l00960"></a>00960 <span class="comment"> * Evaluate a point in the plane's equation.</span>
<a name="l00961"></a>00961 <span class="comment"> */</span>
<a name="l00962"></a>00962 <span class="keywordtype">double</span> evaluatePoint(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00963"></a>00963 <span class="comment"> /**</span>
<a name="l00964"></a>00964 <span class="comment"> * Check whether a point is contained into the plane.</span>
<a name="l00965"></a>00965 <span class="comment"> */</span>
<a name="l00966"></a>00966 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00967"></a>00967 <span class="comment"> /**</span>
<a name="l00968"></a>00968 <span class="comment"> * Check whether a segment is fully contained into the plane.</span>
<a name="l00969"></a>00969 <span class="comment"> */</span>
<a name="l00970"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#af57c08d8739db38ad1fe0531ace3926a">00970</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#af57c08d8739db38ad1fe0531ace3926a" title="Check whether a segment is fully contained into the plane.">contains</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &segment)<span class="keyword"> const </span>{
<a name="l00971"></a>00971 <span class="keywordflow">return</span> contains(segment.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>)&&contains(segment.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>);
<a name="l00972"></a>00972 }<span class="comment"></span>
<a name="l00973"></a>00973 <span class="comment"> /**</span>
<a name="l00974"></a>00974 <span class="comment"> * Check whether a line is fully contained into the plane.</span>
<a name="l00975"></a>00975 <span class="comment"> */</span>
<a name="l00976"></a>00976 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &line) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00977"></a>00977 <span class="comment"> /**</span>
<a name="l00978"></a>00978 <span class="comment"> * Distance to 3D point.</span>
<a name="l00979"></a>00979 <span class="comment"> */</span>
<a name="l00980"></a>00980 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00981"></a>00981 <span class="comment"> /**</span>
<a name="l00982"></a>00982 <span class="comment"> * Distance to 3D line. Will be zero if the line is not parallel to the plane.</span>
<a name="l00983"></a>00983 <span class="comment"> */</span>
<a name="l00984"></a>00984 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &line) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00985"></a>00985 <span class="comment"> /**</span>
<a name="l00986"></a>00986 <span class="comment"> * Get plane's normal vector.</span>
<a name="l00987"></a>00987 <span class="comment"> */</span>
<a name="l00988"></a>00988 <span class="keywordtype">void</span> getNormalVector(<span class="keywordtype">double</span> (&vec)[3]) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00989"></a>00989 <span class="comment"> /**</span>
<a name="l00990"></a>00990 <span class="comment"> * Unitarize normal vector.</span>
<a name="l00991"></a>00991 <span class="comment"> */</span>
<a name="l00992"></a>00992 <span class="keywordtype">void</span> unitarize();<span class="comment"></span>
<a name="l00993"></a>00993 <span class="comment"> /**</span>
<a name="l00994"></a>00994 <span class="comment"> * Unitarize, then get normal vector.</span>
<a name="l00995"></a>00995 <span class="comment"> */</span>
<a name="l00996"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a7e4be995b298d7b331933ed2c405ba8a">00996</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a7e4be995b298d7b331933ed2c405ba8a" title="Unitarize, then get normal vector.">getUnitaryNormalVector</a>(<span class="keywordtype">double</span> (&vec)[3]) {
<a name="l00997"></a>00997 unitarize();
<a name="l00998"></a>00998 getNormalVector(vec);
<a name="l00999"></a>00999 }<span class="comment"></span>
<a name="l01000"></a>01000 <span class="comment"> /**</span>
<a name="l01001"></a>01001 <span class="comment"> * Gets a pose whose XY plane corresponds to this plane.</span>
<a name="l01002"></a>01002 <span class="comment"> */</span>
<a name="l01003"></a>01003 <span class="keywordtype">void</span> getAsPose3D(<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &outPose);<span class="comment"></span>
<a name="l01004"></a>01004 <span class="comment"> /**</span>
<a name="l01005"></a>01005 <span class="comment"> * Gets a pose whose XY plane corresponds to this plane.</span>
<a name="l01006"></a>01006 <span class="comment"> */</span>
<a name="l01007"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a998607e39760859d2ef8f9e8330d0282">01007</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a998607e39760859d2ef8f9e8330d0282" title="Gets a pose whose XY plane corresponds to this plane.">getAsPose3D</a>(<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &outPose)<span class="keyword"> const </span>{
<a name="l01008"></a>01008 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> p=*<span class="keyword">this</span>;
<a name="l01009"></a>01009 p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a84a6723ba59a4095d77c60e6f281223c" title="Gets a pose whose XY plane corresponds to this plane.">getAsPose3D</a>(outPose);
<a name="l01010"></a>01010 }<span class="comment"></span>
<a name="l01011"></a>01011 <span class="comment"> /**</span>
<a name="l01012"></a>01012 <span class="comment"> * Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates.</span>
<a name="l01013"></a>01013 <span class="comment"> * \throw std::logic_error if the point is not inside the plane.</span>
<a name="l01014"></a>01014 <span class="comment"> */</span>
<a name="l01015"></a>01015 <span class="keywordtype">void</span> getAsPose3DForcingOrigin(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &newOrigin,<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &pose);<span class="comment"></span>
<a name="l01016"></a>01016 <span class="comment"> /**</span>
<a name="l01017"></a>01017 <span class="comment"> * Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial coordinates.</span>
<a name="l01018"></a>01018 <span class="comment"> * \throw std::logic_error if the point is not inside the plane.</span>
<a name="l01019"></a>01019 <span class="comment"> */</span>
<a name="l01020"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa84e3a2455e945635f78c0726202db38">01020</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa84e3a2455e945635f78c0726202db38" title="Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial...">getAsPose3DForcingOrigin</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &newOrigin,<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &pose)<span class="keyword"> const </span>{
<a name="l01021"></a>01021 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> p=*<span class="keyword">this</span>;
<a name="l01022"></a>01022 p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a9a1508e9f4eff2405dd023eb4fd1915e" title="Gets a pose whose XY plane corresponds to this, forcing an exact point as its spatial...">getAsPose3DForcingOrigin</a>(newOrigin,pose);
<a name="l01023"></a>01023 }<span class="comment"></span>
<a name="l01024"></a>01024 <span class="comment"> /**</span>
<a name="l01025"></a>01025 <span class="comment"> * Gets a plane which contains these three points.</span>
<a name="l01026"></a>01026 <span class="comment"> * \throw std::logic_error if the points are linearly dependants.</span>
<a name="l01027"></a>01027 <span class="comment"> */</span>
<a name="l01028"></a>01028 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p3) <span class="keywordflow">throw</span>(std::logic_error);<span class="comment"></span>
<a name="l01029"></a>01029 <span class="comment"> /**</span>
<a name="l01030"></a>01030 <span class="comment"> * Gets a plane which contains this point and this line.</span>
<a name="l01031"></a>01031 <span class="comment"> * \throw std::logic_error if the point is inside the line.</span>
<a name="l01032"></a>01032 <span class="comment"> */</span>
<a name="l01033"></a>01033 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &r2) <span class="keywordflow">throw</span>(std::logic_error);<span class="comment"></span>
<a name="l01034"></a>01034 <span class="comment"> /**</span>
<a name="l01035"></a>01035 <span class="comment"> * Gets a plane which contains the two lines.</span>
<a name="l01036"></a>01036 <span class="comment"> * \throw std::logic_error if the lines do not cross.</span>
<a name="l01037"></a>01037 <span class="comment"> */</span>
<a name="l01038"></a>01038 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &r1,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &r2) <span class="keywordflow">throw</span>(std::logic_error);<span class="comment"></span>
<a name="l01039"></a>01039 <span class="comment"> /**</span>
<a name="l01040"></a>01040 <span class="comment"> * Fast default constructor. Initializes to garbage.</span>
<a name="l01041"></a>01041 <span class="comment"> */</span>
<a name="l01042"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a3b1f5dc8cf220e5c698c835f4685b1de">01042</a> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#a3b1f5dc8cf220e5c698c835f4685b1de" title="Fast default constructor.">TPlane</a>() {}<span class="comment"></span>
<a name="l01043"></a>01043 <span class="comment"> /**</span>
<a name="l01044"></a>01044 <span class="comment"> * Constructor from plane coefficients.</span>
<a name="l01045"></a>01045 <span class="comment"> */</span>
<a name="l01046"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#acbcc5ccd6013d00092e5ac9dc9fa9a57">01046</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#acbcc5ccd6013d00092e5ac9dc9fa9a57" title="Constructor from plane coefficients.">TPlane</a>(<span class="keywordtype">double</span> A,<span class="keywordtype">double</span> B,<span class="keywordtype">double</span> C,<span class="keywordtype">double</span> D) {
<a name="l01047"></a>01047 coefs[0]=A;
<a name="l01048"></a>01048 coefs[1]=B;
<a name="l01049"></a>01049 coefs[2]=C;
<a name="l01050"></a>01050 coefs[3]=D;
<a name="l01051"></a>01051 }<span class="comment"></span>
<a name="l01052"></a>01052 <span class="comment"> /**</span>
<a name="l01053"></a>01053 <span class="comment"> * Constructor from an array of coefficients.</span>
<a name="l01054"></a>01054 <span class="comment"> */</span>
<a name="l01055"></a><a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa291f61514c3b453a2a4f0b89374a29e">01055</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa291f61514c3b453a2a4f0b89374a29e" title="Constructor from an array of coefficients.">TPlane</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> (&vec)[4]) {
<a name="l01056"></a>01056 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<4;i++) coefs[i]=vec[i];
<a name="l01057"></a>01057 }
<a name="l01058"></a>01058 };
<a name="l01059"></a>01059
<a name="l01060"></a><a class="code" href="namespacemrpt_1_1math.html#a059f9e940d0d3c842d7ca1cec3c4f999">01060</a> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane3D</a>;
<a name="l01061"></a>01061 <span class="comment"></span>
<a name="l01062"></a>01062 <span class="comment"> /**</span>
<a name="l01063"></a>01063 <span class="comment"> * 2D polygon, inheriting from std::vector<TPoint2D>.</span>
<a name="l01064"></a>01064 <span class="comment"> * \sa TPolygon3D,TSegment2D,TLine2D,TPoint2D, CPolygon</span>
<a name="l01065"></a>01065 <span class="comment"> */</span>
<a name="l01066"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html">01066</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>:<span class="keyword">public</span> std::vector<TPoint2D> {
<a name="l01067"></a>01067 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l01068"></a>01068 <span class="comment"> /**</span>
<a name="l01069"></a>01069 <span class="comment"> * Distance to a point.</span>
<a name="l01070"></a>01070 <span class="comment"> */</span>
<a name="l01071"></a>01071 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01072"></a>01072 <span class="comment"> /**</span>
<a name="l01073"></a>01073 <span class="comment"> * Check whether a point is inside the polygon.</span>
<a name="l01074"></a>01074 <span class="comment"> */</span>
<a name="l01075"></a>01075 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01076"></a>01076 <span class="comment"> /**</span>
<a name="l01077"></a>01077 <span class="comment"> * Gets as set of segments, instead of points.</span>
<a name="l01078"></a>01078 <span class="comment"> */</span>
<a name="l01079"></a>01079 <span class="keywordtype">void</span> getAsSegmentList(std::vector<TSegment2D> &v) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01080"></a>01080 <span class="comment"> /**</span>
<a name="l01081"></a>01081 <span class="comment"> * Projects into 3D space, zeroing the z.</span>
<a name="l01082"></a>01082 <span class="comment"> */</span>
<a name="l01083"></a>01083 <span class="keywordtype">void</span> generate3DObject(<a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &p) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01084"></a>01084 <span class="comment"> /**</span>
<a name="l01085"></a>01085 <span class="comment"> * Polygon's central point.</span>
<a name="l01086"></a>01086 <span class="comment"> */</span>
<a name="l01087"></a>01087 <span class="keywordtype">void</span> getCenter(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01088"></a>01088 <span class="comment"> /**</span>
<a name="l01089"></a>01089 <span class="comment"> * Checks whether is convex.</span>
<a name="l01090"></a>01090 <span class="comment"> */</span>
<a name="l01091"></a>01091 <span class="keywordtype">bool</span> isConvex() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01092"></a>01092 <span class="comment"> /**</span>
<a name="l01093"></a>01093 <span class="comment"> * Erase repeated vertices.</span>
<a name="l01094"></a>01094 <span class="comment"> * \sa removeRedundantVertices</span>
<a name="l01095"></a>01095 <span class="comment"> */</span>
<a name="l01096"></a>01096 <span class="keywordtype">void</span> removeRepeatedVertices();<span class="comment"></span>
<a name="l01097"></a>01097 <span class="comment"> /**</span>
<a name="l01098"></a>01098 <span class="comment"> * Erase every redundant vertex from the polygon, saving space.</span>
<a name="l01099"></a>01099 <span class="comment"> * \sa removeRepeatedVertices</span>
<a name="l01100"></a>01100 <span class="comment"> */</span>
<a name="l01101"></a>01101 <span class="keywordtype">void</span> removeRedundantVertices();<span class="comment"></span>
<a name="l01102"></a>01102 <span class="comment"> /**</span>
<a name="l01103"></a>01103 <span class="comment"> * Gets plot data, ready to use on a 2D plot.</span>
<a name="l01104"></a>01104 <span class="comment"> * \sa mrpt::gui::CDisplayWindowPlots</span>
<a name="l01105"></a>01105 <span class="comment"> */</span>
<a name="l01106"></a>01106 <span class="keywordtype">void</span> getPlotData(std::vector<double> &x,std::vector<double> &y) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01107"></a>01107 <span class="comment"> /**</span>
<a name="l01108"></a>01108 <span class="comment"> * Default constructor.</span>
<a name="l01109"></a>01109 <span class="comment"> */</span>
<a name="l01110"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#a192bf89d25262a4ca42201f2f4dd2378">01110</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#a192bf89d25262a4ca42201f2f4dd2378" title="Default constructor.">TPolygon2D</a>():std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>>() {}<span class="comment"></span>
<a name="l01111"></a>01111 <span class="comment"> /**</span>
<a name="l01112"></a>01112 <span class="comment"> * Constructor for a given number of vertices, intializing them as garbage.</span>
<a name="l01113"></a>01113 <span class="comment"> */</span>
<a name="l01114"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#ac5e11873df6c315640aa2e5bc26409be">01114</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#ac5e11873df6c315640aa2e5bc26409be" title="Constructor for a given number of vertices, intializing them as garbage.">TPolygon2D</a>(<span class="keywordtype">size_t</span> N):std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>>(N) {}<span class="comment"></span>
<a name="l01115"></a>01115 <span class="comment"> /**</span>
<a name="l01116"></a>01116 <span class="comment"> * Implicit constructor from a vector of 2D points.</span>
<a name="l01117"></a>01117 <span class="comment"> */</span>
<a name="l01118"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#a167da838187ef5c7fdc5bdfc65ff1818">01118</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html#a167da838187ef5c7fdc5bdfc65ff1818" title="Implicit constructor from a vector of 2D points.">TPolygon2D</a>(<span class="keyword">const</span> std::vector<TPoint2D> &v):std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>>(v) {}<span class="comment"></span>
<a name="l01119"></a>01119 <span class="comment"> /**</span>
<a name="l01120"></a>01120 <span class="comment"> * Constructor from a 3D object.</span>
<a name="l01121"></a>01121 <span class="comment"> */</span>
<a name="l01122"></a>01122 <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &p);<span class="comment"></span>
<a name="l01123"></a>01123 <span class="comment"> /**</span>
<a name="l01124"></a>01124 <span class="comment"> * Static method to create a regular polygon, given its size and radius.</span>
<a name="l01125"></a>01125 <span class="comment"> * \throw std::logic_error if radius is near zero or the number of edges is less than three.</span>
<a name="l01126"></a>01126 <span class="comment"> */</span>
<a name="l01127"></a>01127 <span class="keyword">static</span> <span class="keywordtype">void</span> createRegularPolygon(<span class="keywordtype">size_t</span> numEdges,<span class="keywordtype">double</span> radius,<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &poly);<span class="comment"></span>
<a name="l01128"></a>01128 <span class="comment"> /**</span>
<a name="l01129"></a>01129 <span class="comment"> * Static method to create a regular polygon from its size and radius. The center will correspond to the given pose.</span>
<a name="l01130"></a>01130 <span class="comment"> * \throw std::logic_error if radius is near zero or the number of edges is less than three.</span>
<a name="l01131"></a>01131 <span class="comment"> */</span>
<a name="l01132"></a>01132 <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> createRegularPolygon(<span class="keywordtype">size_t</span> numEdges,<span class="keywordtype">double</span> radius,<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &poly,<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &pose);
<a name="l01133"></a>01133 };
<a name="l01134"></a>01134 <span class="comment"></span>
<a name="l01135"></a>01135 <span class="comment"> /**</span>
<a name="l01136"></a>01136 <span class="comment"> * 3D polygon, inheriting from std::vector<TPoint3D></span>
<a name="l01137"></a>01137 <span class="comment"> * \sa TPolygon2D,TSegment3D,TLine3D,TPlane,TPoint3D</span>
<a name="l01138"></a>01138 <span class="comment"> */</span>
<a name="l01139"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html">01139</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a>:<span class="keyword">public</span> std::vector<TPoint3D> {
<a name="l01140"></a>01140 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l01141"></a>01141 <span class="comment"> /**</span>
<a name="l01142"></a>01142 <span class="comment"> * Distance to point.</span>
<a name="l01143"></a>01143 <span class="comment"> */</span>
<a name="l01144"></a>01144 <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01145"></a>01145 <span class="comment"> /**</span>
<a name="l01146"></a>01146 <span class="comment"> * Check whether a point is inside the polygon.</span>
<a name="l01147"></a>01147 <span class="comment"> */</span>
<a name="l01148"></a>01148 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &point) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01149"></a>01149 <span class="comment"> /**</span>
<a name="l01150"></a>01150 <span class="comment"> * Gets as set of segments, instead of set of points.</span>
<a name="l01151"></a>01151 <span class="comment"> */</span>
<a name="l01152"></a>01152 <span class="keywordtype">void</span> getAsSegmentList(std::vector<TSegment3D> &v) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01153"></a>01153 <span class="comment"> /**</span>
<a name="l01154"></a>01154 <span class="comment"> * Gets a plane which contains the polygon. Returns false if the polygon is skew and cannot be fit inside a plane.</span>
<a name="l01155"></a>01155 <span class="comment"> */</span>
<a name="l01156"></a>01156 <span class="keywordtype">bool</span> getPlane(<a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> &p) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01157"></a>01157 <span class="comment"> /**</span>
<a name="l01158"></a>01158 <span class="comment"> * Gets the best fitting plane, disregarding whether the polygon actually fits inside or not.</span>
<a name="l01159"></a>01159 <span class="comment"> * \sa getBestFittingPlane</span>
<a name="l01160"></a>01160 <span class="comment"> */</span>
<a name="l01161"></a>01161 <span class="keywordtype">void</span> getBestFittingPlane(<a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> &p) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01162"></a>01162 <span class="comment"> /**</span>
<a name="l01163"></a>01163 <span class="comment"> * Projects into a 2D space, discarding the z.</span>
<a name="l01164"></a>01164 <span class="comment"> * \get getPlane,isSkew</span>
<a name="l01165"></a>01165 <span class="comment"> */</span>
<a name="l01166"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a4209a7967588128b36b73b04a18d36eb">01166</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a4209a7967588128b36b73b04a18d36eb" title="Projects into a 2D space, discarding the z.">generate2DObject</a>(<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p)<span class="keyword"> const </span>{
<a name="l01167"></a>01167 p=<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(*<span class="keyword">this</span>);
<a name="l01168"></a>01168 }<span class="comment"></span>
<a name="l01169"></a>01169 <span class="comment"> /**</span>
<a name="l01170"></a>01170 <span class="comment"> * Get polygon's central point.</span>
<a name="l01171"></a>01171 <span class="comment"> */</span>
<a name="l01172"></a>01172 <span class="keywordtype">void</span> getCenter(<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01173"></a>01173 <span class="comment"> /**</span>
<a name="l01174"></a>01174 <span class="comment"> * Check whether the polygon is skew. Returns true if there doesn't exist a plane in which the polygon can fit.</span>
<a name="l01175"></a>01175 <span class="comment"> * \sa getBestFittingPlane</span>
<a name="l01176"></a>01176 <span class="comment"> */</span>
<a name="l01177"></a>01177 <span class="keywordtype">bool</span> isSkew() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01178"></a>01178 <span class="comment"> /**</span>
<a name="l01179"></a>01179 <span class="comment"> * Remove polygon's repeated vertices.</span>
<a name="l01180"></a>01180 <span class="comment"> */</span>
<a name="l01181"></a>01181 <span class="keywordtype">void</span> removeRepeatedVertices();<span class="comment"></span>
<a name="l01182"></a>01182 <span class="comment"> /**</span>
<a name="l01183"></a>01183 <span class="comment"> * Erase every redundant vertex, thus saving space.</span>
<a name="l01184"></a>01184 <span class="comment"> */</span>
<a name="l01185"></a>01185 <span class="keywordtype">void</span> removeRedundantVertices();<span class="comment"></span>
<a name="l01186"></a>01186 <span class="comment"> /**</span>
<a name="l01187"></a>01187 <span class="comment"> * Default constructor. Creates a polygon with no vertices.</span>
<a name="l01188"></a>01188 <span class="comment"> */</span>
<a name="l01189"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a07f012fced83cde548f8b822e93a6fd1">01189</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a07f012fced83cde548f8b822e93a6fd1" title="Default constructor.">TPolygon3D</a>():std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>>() {}<span class="comment"></span>
<a name="l01190"></a>01190 <span class="comment"> /**</span>
<a name="l01191"></a>01191 <span class="comment"> * Constructor for a given size. Creates a polygon with a fixed number of vertices, which are initialized to garbage.</span>
<a name="l01192"></a>01192 <span class="comment"> */</span>
<a name="l01193"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a99f35e3f32c78eaa551221826754bfff">01193</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a99f35e3f32c78eaa551221826754bfff" title="Constructor for a given size.">TPolygon3D</a>(<span class="keywordtype">size_t</span> N):std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>>(N) {}<span class="comment"></span>
<a name="l01194"></a>01194 <span class="comment"> /**</span>
<a name="l01195"></a>01195 <span class="comment"> * Implicit constructor from a 3D points vector.</span>
<a name="l01196"></a>01196 <span class="comment"> */</span>
<a name="l01197"></a><a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a8de8639b3e64863d83a8d2b777a499a3">01197</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html#a8de8639b3e64863d83a8d2b777a499a3" title="Implicit constructor from a 3D points vector.">TPolygon3D</a>(<span class="keyword">const</span> std::vector<TPoint3D> &v):std::vector<<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>>(v) {}<span class="comment"></span>
<a name="l01198"></a>01198 <span class="comment"> /**</span>
<a name="l01199"></a>01199 <span class="comment"> * Constructor from a 2D object. Zeroes the z.</span>
<a name="l01200"></a>01200 <span class="comment"> */</span>
<a name="l01201"></a>01201 <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p);<span class="comment"></span>
<a name="l01202"></a>01202 <span class="comment"> /**</span>
<a name="l01203"></a>01203 <span class="comment"> * Static method to create a regular polygon, given its size and radius.</span>
<a name="l01204"></a>01204 <span class="comment"> * \throw std::logic_error if number of edges is less than three, or radius is near zero.</span>
<a name="l01205"></a>01205 <span class="comment"> */</span>
<a name="l01206"></a>01206 <span class="keyword">static</span> <span class="keywordtype">void</span> createRegularPolygon(<span class="keywordtype">size_t</span> numEdges,<span class="keywordtype">double</span> radius,<a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &poly);<span class="comment"></span>
<a name="l01207"></a>01207 <span class="comment"> /**</span>
<a name="l01208"></a>01208 <span class="comment"> * Static method to create a regular polygon, given its size and radius. The center will be located on the given pose.</span>
<a name="l01209"></a>01209 <span class="comment"> * \throw std::logic_error if number of edges is less than three, or radius is near zero.</span>
<a name="l01210"></a>01210 <span class="comment"> */</span>
<a name="l01211"></a>01211 <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> createRegularPolygon(<span class="keywordtype">size_t</span> numEdges,<span class="keywordtype">double</span> radius,<a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &poly,<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &pose);
<a name="l01212"></a>01212 };
<a name="l01213"></a>01213 <span class="comment"></span>
<a name="l01214"></a>01214 <span class="comment"> /**</span>
<a name="l01215"></a>01215 <span class="comment"> * Object type identifier for TPoint2D or TPoint3D.</span>
<a name="l01216"></a>01216 <span class="comment"> * \sa TObject2D,TObject3D</span>
<a name="l01217"></a>01217 <span class="comment"> */</span>
<a name="l01218"></a><a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52">01218</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>=0;<span class="comment"></span>
<a name="l01219"></a>01219 <span class="comment"> /**</span>
<a name="l01220"></a>01220 <span class="comment"> * Object type identifier for TSegment2D or TSegment3D.</span>
<a name="l01221"></a>01221 <span class="comment"> * \sa TObject2D,TObject3D</span>
<a name="l01222"></a>01222 <span class="comment"> */</span>
<a name="l01223"></a><a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc">01223</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>=1;<span class="comment"></span>
<a name="l01224"></a>01224 <span class="comment"> /**</span>
<a name="l01225"></a>01225 <span class="comment"> * Object type identifier for TLine2D or TLine3D.</span>
<a name="l01226"></a>01226 <span class="comment"> * \sa TObject2D,TObject3D</span>
<a name="l01227"></a>01227 <span class="comment"> */</span>
<a name="l01228"></a><a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e">01228</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>=2;<span class="comment"></span>
<a name="l01229"></a>01229 <span class="comment"> /**</span>
<a name="l01230"></a>01230 <span class="comment"> * Object type identifier for TPolygon2D or TPolygon3D.</span>
<a name="l01231"></a>01231 <span class="comment"> * \sa TObject2D,TObject3D</span>
<a name="l01232"></a>01232 <span class="comment"> */</span>
<a name="l01233"></a><a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64">01233</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>=3;<span class="comment"></span>
<a name="l01234"></a>01234 <span class="comment"> /**</span>
<a name="l01235"></a>01235 <span class="comment"> * Object type identifier for TPlane.</span>
<a name="l01236"></a>01236 <span class="comment"> * \sa TObject3D</span>
<a name="l01237"></a>01237 <span class="comment"> */</span>
<a name="l01238"></a><a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd">01238</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>=4;<span class="comment"></span>
<a name="l01239"></a>01239 <span class="comment"> /**</span>
<a name="l01240"></a>01240 <span class="comment"> * Object type identifier for empty TObject2D or TObject3D.</span>
<a name="l01241"></a>01241 <span class="comment"> * \sa TObject2D,TObject3D</span>
<a name="l01242"></a>01242 <span class="comment"> */</span>
<a name="l01243"></a><a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a">01243</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>=255;
<a name="l01244"></a>01244 <span class="comment"></span>
<a name="l01245"></a>01245 <span class="comment"> /**</span>
<a name="l01246"></a>01246 <span class="comment"> * Standard type for storing any lightweight 2D type. Do not inherit from this class.</span>
<a name="l01247"></a>01247 <span class="comment"> * \sa TPoint2D,TSegment2D,TLine2D,TPolygon2D</span>
<a name="l01248"></a>01248 <span class="comment"> */</span>
<a name="l01249"></a>01249 <span class="preprocessor">#ifdef TOBJECTS_USE_UNIONS</span>
<a name="l01250"></a>01250 <span class="preprocessor"></span> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> {
<a name="l01251"></a>01251 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l01252"></a>01252 <span class="comment"> /**</span>
<a name="l01253"></a>01253 <span class="comment"> * Object type identifier.</span>
<a name="l01254"></a>01254 <span class="comment"> */</span>
<a name="l01255"></a>01255 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type;<span class="comment"></span>
<a name="l01256"></a>01256 <span class="comment"> /**</span>
<a name="l01257"></a>01257 <span class="comment"> * Union type storing pointers to every allowed type.</span>
<a name="l01258"></a>01258 <span class="comment"> */</span>
<a name="l01259"></a>01259 <span class="keyword">union </span>{
<a name="l01260"></a>01260 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> *point;
<a name="l01261"></a>01261 <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> *segment;
<a name="l01262"></a>01262 <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> *line;
<a name="l01263"></a>01263 <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> *polygon;
<a name="l01264"></a>01264 } data;<span class="comment"></span>
<a name="l01265"></a>01265 <span class="comment"> /**</span>
<a name="l01266"></a>01266 <span class="comment"> * Destroys the object, releasing the pointer to the content (if any).</span>
<a name="l01267"></a>01267 <span class="comment"> */</span>
<a name="l01268"></a>01268 <span class="keywordtype">void</span> destroy() {
<a name="l01269"></a>01269 <span class="keywordflow">switch</span>(type) {
<a name="l01270"></a>01270 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01271"></a>01271 <span class="keyword">delete</span> data.point;
<a name="l01272"></a>01272 <span class="keywordflow">break</span>;
<a name="l01273"></a>01273 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01274"></a>01274 <span class="keyword">delete</span> data.segment;
<a name="l01275"></a>01275 <span class="keywordflow">break</span>;
<a name="l01276"></a>01276 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01277"></a>01277 <span class="keyword">delete</span> data.line;
<a name="l01278"></a>01278 <span class="keywordflow">break</span>;
<a name="l01279"></a>01279 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01280"></a>01280 <span class="keyword">delete</span> data.polygon;
<a name="l01281"></a>01281 <span class="keywordflow">break</span>;
<a name="l01282"></a>01282 }
<a name="l01283"></a>01283 type=<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>;
<a name="l01284"></a>01284 }
<a name="l01285"></a>01285 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l01286"></a>01286 <span class="comment"> /**</span>
<a name="l01287"></a>01287 <span class="comment"> * Implicit constructor from point.</span>
<a name="l01288"></a>01288 <span class="comment"> */</span>
<a name="l01289"></a>01289 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>) {
<a name="l01290"></a>01290 data.point=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(p);
<a name="l01291"></a>01291 }<span class="comment"></span>
<a name="l01292"></a>01292 <span class="comment"> /**</span>
<a name="l01293"></a>01293 <span class="comment"> * Implicit constructor from segment.</span>
<a name="l01294"></a>01294 <span class="comment"> */</span>
<a name="l01295"></a>01295 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s):type(<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>) {
<a name="l01296"></a>01296 data.segment=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(s);
<a name="l01297"></a>01297 }<span class="comment"></span>
<a name="l01298"></a>01298 <span class="comment"> /**</span>
<a name="l01299"></a>01299 <span class="comment"> * Implicit constructor from line.</span>
<a name="l01300"></a>01300 <span class="comment"> */</span>
<a name="l01301"></a>01301 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &r):type(<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>) {
<a name="l01302"></a>01302 data.line=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(r);
<a name="l01303"></a>01303 }<span class="comment"></span>
<a name="l01304"></a>01304 <span class="comment"> /**</span>
<a name="l01305"></a>01305 <span class="comment"> * Implicit constructor from polygon.</span>
<a name="l01306"></a>01306 <span class="comment"> */</span>
<a name="l01307"></a>01307 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) {
<a name="l01308"></a>01308 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(p);
<a name="l01309"></a>01309 }<span class="comment"></span>
<a name="l01310"></a>01310 <span class="comment"> /**</span>
<a name="l01311"></a>01311 <span class="comment"> * Implicit constructor from polygon.</span>
<a name="l01312"></a>01312 <span class="comment"> */</span>
<a name="l01313"></a>01313 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>():type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {}<span class="comment"></span>
<a name="l01314"></a>01314 <span class="comment"> /**</span>
<a name="l01315"></a>01315 <span class="comment"> * Object destruction.</span>
<a name="l01316"></a>01316 <span class="comment"> */</span>
<a name="l01317"></a>01317 ~<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>() {
<a name="l01318"></a>01318 destroy();
<a name="l01319"></a>01319 }<span class="comment"></span>
<a name="l01320"></a>01320 <span class="comment"> /**</span>
<a name="l01321"></a>01321 <span class="comment"> * Checks whether content is a point.</span>
<a name="l01322"></a>01322 <span class="comment"> */</span>
<a name="l01323"></a>01323 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isPoint()<span class="keyword"> const </span>{
<a name="l01324"></a>01324 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01325"></a>01325 }<span class="comment"></span>
<a name="l01326"></a>01326 <span class="comment"> /**</span>
<a name="l01327"></a>01327 <span class="comment"> * Checks whether content is a segment.</span>
<a name="l01328"></a>01328 <span class="comment"> */</span>
<a name="l01329"></a>01329 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isSegment()<span class="keyword"> const </span>{
<a name="l01330"></a>01330 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01331"></a>01331 }<span class="comment"></span>
<a name="l01332"></a>01332 <span class="comment"> /**</span>
<a name="l01333"></a>01333 <span class="comment"> * Checks whether content is a line.</span>
<a name="l01334"></a>01334 <span class="comment"> */</span>
<a name="l01335"></a>01335 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isLine()<span class="keyword"> const </span>{
<a name="l01336"></a>01336 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01337"></a>01337 }<span class="comment"></span>
<a name="l01338"></a>01338 <span class="comment"> /**</span>
<a name="l01339"></a>01339 <span class="comment"> * Checks whether content is a polygon.</span>
<a name="l01340"></a>01340 <span class="comment"> */</span>
<a name="l01341"></a>01341 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isPolygon()<span class="keyword"> const </span>{
<a name="l01342"></a>01342 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01343"></a>01343 }<span class="comment"></span>
<a name="l01344"></a>01344 <span class="comment"> /**</span>
<a name="l01345"></a>01345 <span class="comment"> * Gets content type.</span>
<a name="l01346"></a>01346 <span class="comment"> */</span>
<a name="l01347"></a>01347 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> getType()<span class="keyword"> const </span>{
<a name="l01348"></a>01348 <span class="keywordflow">return</span> type;
<a name="l01349"></a>01349 }<span class="comment"></span>
<a name="l01350"></a>01350 <span class="comment"> /**</span>
<a name="l01351"></a>01351 <span class="comment"> * Gets the content as a point, returning false if the type is inadequate.</span>
<a name="l01352"></a>01352 <span class="comment"> */</span>
<a name="l01353"></a>01353 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getPoint(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p)<span class="keyword"> const </span>{
<a name="l01354"></a>01354 <span class="keywordflow">if</span> (isPoint()) {
<a name="l01355"></a>01355 p=*(data.point);
<a name="l01356"></a>01356 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01357"></a>01357 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01358"></a>01358 }<span class="comment"></span>
<a name="l01359"></a>01359 <span class="comment"> /**</span>
<a name="l01360"></a>01360 <span class="comment"> * Gets the content as a segment, returning false if the type is inadequate.</span>
<a name="l01361"></a>01361 <span class="comment"> */</span>
<a name="l01362"></a>01362 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getSegment(<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s)<span class="keyword"> const </span>{
<a name="l01363"></a>01363 <span class="keywordflow">if</span> (isSegment()) {
<a name="l01364"></a>01364 s=*(data.segment);
<a name="l01365"></a>01365 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01366"></a>01366 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01367"></a>01367 }<span class="comment"></span>
<a name="l01368"></a>01368 <span class="comment"> /**</span>
<a name="l01369"></a>01369 <span class="comment"> * Gets the content as a line, returning false if the type is inadequate.</span>
<a name="l01370"></a>01370 <span class="comment"> */</span>
<a name="l01371"></a>01371 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getLine(<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &r)<span class="keyword"> const </span>{
<a name="l01372"></a>01372 <span class="keywordflow">if</span> (isLine()) {
<a name="l01373"></a>01373 r=*(data.line);
<a name="l01374"></a>01374 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01375"></a>01375 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01376"></a>01376 }<span class="comment"></span>
<a name="l01377"></a>01377 <span class="comment"> /**</span>
<a name="l01378"></a>01378 <span class="comment"> * Gets the content as a polygon, returning false if the type is inadequate.</span>
<a name="l01379"></a>01379 <span class="comment"> */</span>
<a name="l01380"></a>01380 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getPolygon(<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p)<span class="keyword"> const </span>{
<a name="l01381"></a>01381 <span class="keywordflow">if</span> (isPolygon()) {
<a name="l01382"></a>01382 p=*(data.polygon);
<a name="l01383"></a>01383 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01384"></a>01384 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01385"></a>01385 }<span class="comment"></span>
<a name="l01386"></a>01386 <span class="comment"> /**</span>
<a name="l01387"></a>01387 <span class="comment"> * Assign another TObject2D. Pointers are not shared.</span>
<a name="l01388"></a>01388 <span class="comment"> */</span>
<a name="l01389"></a>01389 <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> &obj) {
<a name="l01390"></a>01390 <span class="keywordflow">if</span> (<span class="keyword">this</span>==&obj) <span class="keywordflow">return</span>;
<a name="l01391"></a>01391 destroy();
<a name="l01392"></a>01392 <span class="keywordflow">switch</span> (type=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a7655cd0519a403e4e4c2393debd6b0da" title="Object type identifier.">type</a>) {
<a name="l01393"></a>01393 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01394"></a>01394 data.point=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a639f8f371a97ffba68507854f5bc38e3">point</a>));
<a name="l01395"></a>01395 <span class="keywordflow">break</span>;
<a name="l01396"></a>01396 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01397"></a>01397 data.segment=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1bb4e6be37d0ded92003a8354afde2f7">segment</a>));
<a name="l01398"></a>01398 <span class="keywordflow">break</span>;
<a name="l01399"></a>01399 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01400"></a>01400 data.line=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a01aa4796b65b1ecfd003c66f27593d8b">line</a>));
<a name="l01401"></a>01401 <span class="keywordflow">break</span>;
<a name="l01402"></a>01402 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01403"></a>01403 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a000cf67c03b26e1afc7ebba2f7054649">polygon</a>));
<a name="l01404"></a>01404 <span class="keywordflow">break</span>;
<a name="l01405"></a>01405 }
<a name="l01406"></a>01406 }<span class="comment"></span>
<a name="l01407"></a>01407 <span class="comment"> /**</span>
<a name="l01408"></a>01408 <span class="comment"> * Assign a point to this object.</span>
<a name="l01409"></a>01409 <span class="comment"> */</span>
<a name="l01410"></a>01410 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) {
<a name="l01411"></a>01411 destroy();
<a name="l01412"></a>01412 type=<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01413"></a>01413 data.point=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(p);
<a name="l01414"></a>01414 }<span class="comment"></span>
<a name="l01415"></a>01415 <span class="comment"> /**</span>
<a name="l01416"></a>01416 <span class="comment"> * Assign a segment to this object.</span>
<a name="l01417"></a>01417 <span class="comment"> */</span>
<a name="l01418"></a>01418 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s) {
<a name="l01419"></a>01419 destroy();
<a name="l01420"></a>01420 type=<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01421"></a>01421 data.segment=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(s);
<a name="l01422"></a>01422 }<span class="comment"></span>
<a name="l01423"></a>01423 <span class="comment"> /**</span>
<a name="l01424"></a>01424 <span class="comment"> * Assign a line to this object.</span>
<a name="l01425"></a>01425 <span class="comment"> */</span>
<a name="l01426"></a>01426 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &l) {
<a name="l01427"></a>01427 destroy();
<a name="l01428"></a>01428 type=<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01429"></a>01429 data.line=<span class="keyword">new</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(l);
<a name="l01430"></a>01430 }<span class="comment"></span>
<a name="l01431"></a>01431 <span class="comment"> /**</span>
<a name="l01432"></a>01432 <span class="comment"> * Assign a polygon to this object.</span>
<a name="l01433"></a>01433 <span class="comment"> */</span>
<a name="l01434"></a>01434 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p) {
<a name="l01435"></a>01435 destroy();
<a name="l01436"></a>01436 type=<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01437"></a>01437 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(p);
<a name="l01438"></a>01438 }<span class="comment"></span>
<a name="l01439"></a>01439 <span class="comment"> /**</span>
<a name="l01440"></a>01440 <span class="comment"> * Project into 3D space.</span>
<a name="l01441"></a>01441 <span class="comment"> */</span>
<a name="l01442"></a>01442 <span class="keywordtype">void</span> generate3DObject(<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> &obj) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01443"></a>01443 <span class="comment"> /**</span>
<a name="l01444"></a>01444 <span class="comment"> * Constructor from another TObject2D.</span>
<a name="l01445"></a>01445 <span class="comment"> */</span>
<a name="l01446"></a>01446 <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> &obj):type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {
<a name="l01447"></a>01447 operator=(obj);
<a name="l01448"></a>01448 }<span class="comment"></span>
<a name="l01449"></a>01449 <span class="comment"> /**</span>
<a name="l01450"></a>01450 <span class="comment"> * Static method to retrieve all the points in a vector of TObject2D.</span>
<a name="l01451"></a>01451 <span class="comment"> */</span>
<a name="l01452"></a>01452 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPoint2D> &pnts);<span class="comment"></span>
<a name="l01453"></a>01453 <span class="comment"> /**</span>
<a name="l01454"></a>01454 <span class="comment"> * Static method to retrieve all the segments in a vector of TObject2D.</span>
<a name="l01455"></a>01455 <span class="comment"> */</span>
<a name="l01456"></a>01456 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TSegment2D> &sgms);<span class="comment"></span>
<a name="l01457"></a>01457 <span class="comment"> /**</span>
<a name="l01458"></a>01458 <span class="comment"> * Static method to retrieve all the lines in a vector of TObject2D.</span>
<a name="l01459"></a>01459 <span class="comment"> */</span>
<a name="l01460"></a>01460 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TLine2D> &lins);<span class="comment"></span>
<a name="l01461"></a>01461 <span class="comment"> /**</span>
<a name="l01462"></a>01462 <span class="comment"> * Static method to retrieve all the polygons in a vector of TObject2D.</span>
<a name="l01463"></a>01463 <span class="comment"> */</span>
<a name="l01464"></a>01464 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPolygon2D> &polys);<span class="comment"></span>
<a name="l01465"></a>01465 <span class="comment"> /**</span>
<a name="l01466"></a>01466 <span class="comment"> * Static method to retrieve all the points in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l01467"></a>01467 <span class="comment"> */</span>
<a name="l01468"></a>01468 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPoint2D> &pnts,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l01469"></a>01469 <span class="comment"> /**</span>
<a name="l01470"></a>01470 <span class="comment"> * Static method to retrieve all the segments in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l01471"></a>01471 <span class="comment"> */</span>
<a name="l01472"></a>01472 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TSegment2D> &sgms,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l01473"></a>01473 <span class="comment"> /**</span>
<a name="l01474"></a>01474 <span class="comment"> * Static method to retrieve all the lines in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l01475"></a>01475 <span class="comment"> */</span>
<a name="l01476"></a>01476 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TLine2D> &lins,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l01477"></a>01477 <span class="comment"> /**</span>
<a name="l01478"></a>01478 <span class="comment"> * Static method to retrieve all the polygons in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l01479"></a>01479 <span class="comment"> */</span>
<a name="l01480"></a>01480 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPolygon2D> &polys,std::vector<TObject2D> &remainder);
<a name="l01481"></a>01481 };<span class="comment"></span>
<a name="l01482"></a>01482 <span class="comment"> /**</span>
<a name="l01483"></a>01483 <span class="comment"> * Standard object for storing any 3D lightweight object. Do not inherit from this class.</span>
<a name="l01484"></a>01484 <span class="comment"> * \sa TPoint3D,TSegment3D,TLine3D,TPlane,TPolygon3D</span>
<a name="l01485"></a>01485 <span class="comment"> */</span>
<a name="l01486"></a>01486 <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> {
<a name="l01487"></a>01487 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l01488"></a>01488 <span class="comment"> /**</span>
<a name="l01489"></a>01489 <span class="comment"> * Object type identifier.</span>
<a name="l01490"></a>01490 <span class="comment"> */</span>
<a name="l01491"></a>01491 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type;<span class="comment"></span>
<a name="l01492"></a>01492 <span class="comment"> /**</span>
<a name="l01493"></a>01493 <span class="comment"> * Union containing pointer to actual data.</span>
<a name="l01494"></a>01494 <span class="comment"> */</span>
<a name="l01495"></a>01495 <span class="keyword">union </span>{
<a name="l01496"></a>01496 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> *point;
<a name="l01497"></a>01497 <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> *segment;
<a name="l01498"></a>01498 <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> *line;
<a name="l01499"></a>01499 <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> *polygon;
<a name="l01500"></a>01500 <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> *plane;
<a name="l01501"></a>01501 } data;<span class="comment"></span>
<a name="l01502"></a>01502 <span class="comment"> /**</span>
<a name="l01503"></a>01503 <span class="comment"> * Destroys the object and releases the pointer, if any.</span>
<a name="l01504"></a>01504 <span class="comment"> */</span>
<a name="l01505"></a>01505 <span class="keywordtype">void</span> destroy() {
<a name="l01506"></a>01506 <span class="keywordflow">switch</span> (type) {
<a name="l01507"></a>01507 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01508"></a>01508 <span class="keyword">delete</span> data.point;
<a name="l01509"></a>01509 <span class="keywordflow">break</span>;
<a name="l01510"></a>01510 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01511"></a>01511 <span class="keyword">delete</span> data.segment;
<a name="l01512"></a>01512 <span class="keywordflow">break</span>;
<a name="l01513"></a>01513 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01514"></a>01514 <span class="keyword">delete</span> data.line;
<a name="l01515"></a>01515 <span class="keywordflow">break</span>;
<a name="l01516"></a>01516 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01517"></a>01517 <span class="keyword">delete</span> data.polygon;
<a name="l01518"></a>01518 <span class="keywordflow">break</span>;
<a name="l01519"></a>01519 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>:
<a name="l01520"></a>01520 <span class="keyword">delete</span> data.plane;
<a name="l01521"></a>01521 <span class="keywordflow">break</span>;
<a name="l01522"></a>01522 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>:
<a name="l01523"></a>01523 <span class="keywordflow">break</span>;
<a name="l01524"></a>01524 <span class="keywordflow">default</span>:
<a name="l01525"></a>01525 <a class="code" href="utils__defs_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Invalid TObject2D object"</span>);
<a name="l01526"></a>01526 }
<a name="l01527"></a>01527 type=<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>;
<a name="l01528"></a>01528 }
<a name="l01529"></a>01529 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l01530"></a>01530 <span class="comment"> /**</span>
<a name="l01531"></a>01531 <span class="comment"> * Constructor from point.</span>
<a name="l01532"></a>01532 <span class="comment"> */</span>
<a name="l01533"></a>01533 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> TPoint3D &p):type(<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>) {
<a name="l01534"></a>01534 data.point=<span class="keyword">new</span> TPoint3D(p);
<a name="l01535"></a>01535 }<span class="comment"></span>
<a name="l01536"></a>01536 <span class="comment"> /**</span>
<a name="l01537"></a>01537 <span class="comment"> * Constructor from segment.</span>
<a name="l01538"></a>01538 <span class="comment"> */</span>
<a name="l01539"></a>01539 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a> &s):type(<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>) {
<a name="l01540"></a>01540 data.segment=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a>(s);
<a name="l01541"></a>01541 }<span class="comment"></span>
<a name="l01542"></a>01542 <span class="comment"> /**</span>
<a name="l01543"></a>01543 <span class="comment"> * Constructor from line.</span>
<a name="l01544"></a>01544 <span class="comment"> */</span>
<a name="l01545"></a>01545 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a> &r):type(<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>) {
<a name="l01546"></a>01546 data.line=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(r);
<a name="l01547"></a>01547 }<span class="comment"></span>
<a name="l01548"></a>01548 <span class="comment"> /**</span>
<a name="l01549"></a>01549 <span class="comment"> * Constructor from polygon.</span>
<a name="l01550"></a>01550 <span class="comment"> */</span>
<a name="l01551"></a>01551 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) {
<a name="l01552"></a>01552 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(p);
<a name="l01553"></a>01553 }<span class="comment"></span>
<a name="l01554"></a>01554 <span class="comment"> /**</span>
<a name="l01555"></a>01555 <span class="comment"> * Constructor from plane.</span>
<a name="l01556"></a>01556 <span class="comment"> */</span>
<a name="l01557"></a>01557 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> TPlane &p):type(<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>) {
<a name="l01558"></a>01558 data.plane=<span class="keyword">new</span> TPlane(p);
<a name="l01559"></a>01559 }<span class="comment"></span>
<a name="l01560"></a>01560 <span class="comment"> /**</span>
<a name="l01561"></a>01561 <span class="comment"> * Empty constructor.</span>
<a name="l01562"></a>01562 <span class="comment"> */</span>
<a name="l01563"></a>01563 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>():type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {}<span class="comment"></span>
<a name="l01564"></a>01564 <span class="comment"> /**</span>
<a name="l01565"></a>01565 <span class="comment"> * Destructor.</span>
<a name="l01566"></a>01566 <span class="comment"> */</span>
<a name="l01567"></a>01567 ~<a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>() {
<a name="l01568"></a>01568 destroy();
<a name="l01569"></a>01569 }<span class="comment"></span>
<a name="l01570"></a>01570 <span class="comment"> /**</span>
<a name="l01571"></a>01571 <span class="comment"> * Checks whether content is a point.</span>
<a name="l01572"></a>01572 <span class="comment"> */</span>
<a name="l01573"></a>01573 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isPoint()<span class="keyword"> const </span>{
<a name="l01574"></a>01574 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01575"></a>01575 }<span class="comment"></span>
<a name="l01576"></a>01576 <span class="comment"> /**</span>
<a name="l01577"></a>01577 <span class="comment"> * Checks whether content is a segment.</span>
<a name="l01578"></a>01578 <span class="comment"> */</span>
<a name="l01579"></a>01579 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isSegment()<span class="keyword"> const </span>{
<a name="l01580"></a>01580 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01581"></a>01581 }<span class="comment"></span>
<a name="l01582"></a>01582 <span class="comment"> /**</span>
<a name="l01583"></a>01583 <span class="comment"> * Checks whether content is a line.</span>
<a name="l01584"></a>01584 <span class="comment"> */</span>
<a name="l01585"></a>01585 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isLine()<span class="keyword"> const </span>{
<a name="l01586"></a>01586 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01587"></a>01587 }<span class="comment"></span>
<a name="l01588"></a>01588 <span class="comment"> /**</span>
<a name="l01589"></a>01589 <span class="comment"> * Checks whether content is a polygon.</span>
<a name="l01590"></a>01590 <span class="comment"> */</span>
<a name="l01591"></a>01591 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isPolygon()<span class="keyword"> const </span>{
<a name="l01592"></a>01592 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01593"></a>01593 }<span class="comment"></span>
<a name="l01594"></a>01594 <span class="comment"> /**</span>
<a name="l01595"></a>01595 <span class="comment"> * Checks whether content is a plane.</span>
<a name="l01596"></a>01596 <span class="comment"> */</span>
<a name="l01597"></a>01597 <span class="keyword">inline</span> <span class="keywordtype">bool</span> isPlane()<span class="keyword"> const </span>{
<a name="l01598"></a>01598 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>;
<a name="l01599"></a>01599 }<span class="comment"></span>
<a name="l01600"></a>01600 <span class="comment"> /**</span>
<a name="l01601"></a>01601 <span class="comment"> * Gets object type.</span>
<a name="l01602"></a>01602 <span class="comment"> */</span>
<a name="l01603"></a>01603 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> getType()<span class="keyword"> const </span>{
<a name="l01604"></a>01604 <span class="keywordflow">return</span> type;
<a name="l01605"></a>01605 }<span class="comment"></span>
<a name="l01606"></a>01606 <span class="comment"> /**</span>
<a name="l01607"></a>01607 <span class="comment"> * Gets the content as a point, returning false if the type is not adequate.</span>
<a name="l01608"></a>01608 <span class="comment"> */</span>
<a name="l01609"></a>01609 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getPoint(TPoint3D &p)<span class="keyword"> const </span>{
<a name="l01610"></a>01610 <span class="keywordflow">if</span> (isPoint()) {
<a name="l01611"></a>01611 p=*(data.point);
<a name="l01612"></a>01612 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01613"></a>01613 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01614"></a>01614 }<span class="comment"></span>
<a name="l01615"></a>01615 <span class="comment"> /**</span>
<a name="l01616"></a>01616 <span class="comment"> * Gets the content as a segment, returning false if the type is not adequate.</span>
<a name="l01617"></a>01617 <span class="comment"> */</span>
<a name="l01618"></a>01618 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getSegment(<a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a> &s)<span class="keyword"> const </span>{
<a name="l01619"></a>01619 <span class="keywordflow">if</span> (isSegment()) {
<a name="l01620"></a>01620 s=*(data.segment);
<a name="l01621"></a>01621 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01622"></a>01622 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01623"></a>01623 }<span class="comment"></span>
<a name="l01624"></a>01624 <span class="comment"> /**</span>
<a name="l01625"></a>01625 <span class="comment"> * Gets the content as a line, returning false if the type is not adequate.</span>
<a name="l01626"></a>01626 <span class="comment"> */</span>
<a name="l01627"></a>01627 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getLine(<a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a> &r)<span class="keyword"> const </span>{
<a name="l01628"></a>01628 <span class="keywordflow">if</span> (isLine()) {
<a name="l01629"></a>01629 r=*(data.line);
<a name="l01630"></a>01630 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01631"></a>01631 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01632"></a>01632 }<span class="comment"></span>
<a name="l01633"></a>01633 <span class="comment"> /**</span>
<a name="l01634"></a>01634 <span class="comment"> * Gets the content as a polygon, returning false if the type is not adequate.</span>
<a name="l01635"></a>01635 <span class="comment"> */</span>
<a name="l01636"></a>01636 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getPolygon(<a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a> &p)<span class="keyword"> const </span>{
<a name="l01637"></a>01637 <span class="keywordflow">if</span> (isPolygon()) {
<a name="l01638"></a>01638 p=*(data.polygon);
<a name="l01639"></a>01639 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01640"></a>01640 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01641"></a>01641 }<span class="comment"></span>
<a name="l01642"></a>01642 <span class="comment"> /**</span>
<a name="l01643"></a>01643 <span class="comment"> * Gets the content as a plane, returning false if the type is not adequate.</span>
<a name="l01644"></a>01644 <span class="comment"> */</span>
<a name="l01645"></a>01645 <span class="keyword">inline</span> <span class="keywordtype">bool</span> getPlane(TPlane &p)<span class="keyword"> const </span>{
<a name="l01646"></a>01646 <span class="keywordflow">if</span> (isPlane()) {
<a name="l01647"></a>01647 p=*(data.plane);
<a name="l01648"></a>01648 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01649"></a>01649 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01650"></a>01650 }<span class="comment"></span>
<a name="l01651"></a>01651 <span class="comment"> /**</span>
<a name="l01652"></a>01652 <span class="comment"> * Assigns another object, creating a new pointer if needed.</span>
<a name="l01653"></a>01653 <span class="comment"> */</span>
<a name="l01654"></a>01654 <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a> &obj) {
<a name="l01655"></a>01655 <span class="keywordflow">if</span> (<span class="keyword">this</span>==&obj) <span class="keywordflow">return</span>;
<a name="l01656"></a>01656 destroy();
<a name="l01657"></a>01657 <span class="keywordflow">switch</span> (type=obj.type) {
<a name="l01658"></a>01658 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01659"></a>01659 data.point=<span class="keyword">new</span> TPoint3D(*(obj.data.point));
<a name="l01660"></a>01660 <span class="keywordflow">break</span>;
<a name="l01661"></a>01661 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01662"></a>01662 data.segment=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a>(*(obj.data.segment));
<a name="l01663"></a>01663 <span class="keywordflow">break</span>;
<a name="l01664"></a>01664 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01665"></a>01665 data.line=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(*(obj.data.line));
<a name="l01666"></a>01666 <span class="keywordflow">break</span>;
<a name="l01667"></a>01667 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01668"></a>01668 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(*(obj.data.polygon));
<a name="l01669"></a>01669 <span class="keywordflow">break</span>;
<a name="l01670"></a>01670 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>:
<a name="l01671"></a>01671 data.plane=<span class="keyword">new</span> TPlane(*(obj.data.plane));
<a name="l01672"></a>01672 <span class="keywordflow">break</span>;
<a name="l01673"></a>01673 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>:
<a name="l01674"></a>01674 <span class="keywordflow">break</span>;
<a name="l01675"></a>01675 <span class="keywordflow">default</span>:
<a name="l01676"></a>01676 <a class="code" href="utils__defs_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Invalid TObject3D object"</span>);
<a name="l01677"></a>01677 }
<a name="l01678"></a>01678 }<span class="comment"></span>
<a name="l01679"></a>01679 <span class="comment"> /**</span>
<a name="l01680"></a>01680 <span class="comment"> * Assigns a point to this object.</span>
<a name="l01681"></a>01681 <span class="comment"> */</span>
<a name="l01682"></a>01682 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> TPoint3D &p) {
<a name="l01683"></a>01683 destroy();
<a name="l01684"></a>01684 type=<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01685"></a>01685 data.point=<span class="keyword">new</span> TPoint3D(p);
<a name="l01686"></a>01686 }<span class="comment"></span>
<a name="l01687"></a>01687 <span class="comment"> /**</span>
<a name="l01688"></a>01688 <span class="comment"> * Assigns a segment to this object.</span>
<a name="l01689"></a>01689 <span class="comment"> */</span>
<a name="l01690"></a>01690 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a> &s) {
<a name="l01691"></a>01691 destroy();
<a name="l01692"></a>01692 type=<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01693"></a>01693 data.segment=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a>(s);
<a name="l01694"></a>01694 }<span class="comment"></span>
<a name="l01695"></a>01695 <span class="comment"> /**</span>
<a name="l01696"></a>01696 <span class="comment"> * Assigns a line to this object.</span>
<a name="l01697"></a>01697 <span class="comment"> */</span>
<a name="l01698"></a>01698 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a> &l) {
<a name="l01699"></a>01699 destroy();
<a name="l01700"></a>01700 type=<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01701"></a>01701 data.line=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>(l);
<a name="l01702"></a>01702 }<span class="comment"></span>
<a name="l01703"></a>01703 <span class="comment"> /**</span>
<a name="l01704"></a>01704 <span class="comment"> * Assigns a polygon to this object.</span>
<a name="l01705"></a>01705 <span class="comment"> */</span>
<a name="l01706"></a>01706 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a> &p) {
<a name="l01707"></a>01707 destroy();
<a name="l01708"></a>01708 type=<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01709"></a>01709 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(p);
<a name="l01710"></a>01710 }<span class="comment"></span>
<a name="l01711"></a>01711 <span class="comment"> /**</span>
<a name="l01712"></a>01712 <span class="comment"> * Assigns a plane to this object.</span>
<a name="l01713"></a>01713 <span class="comment"> */</span>
<a name="l01714"></a>01714 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> TPlane &p) {
<a name="l01715"></a>01715 destroy();
<a name="l01716"></a>01716 type=<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>;
<a name="l01717"></a>01717 data.plane=<span class="keyword">new</span> TPlane(p);
<a name="l01718"></a>01718 }<span class="comment"></span>
<a name="l01719"></a>01719 <span class="comment"> /**</span>
<a name="l01720"></a>01720 <span class="comment"> * Projects into 2D space.</span>
<a name="l01721"></a>01721 <span class="comment"> * \throw std::logic_error if the 3D object loses its properties when projecting into 2D space (for example, it's a plane or a vertical line).</span>
<a name="l01722"></a>01722 <span class="comment"> */</span>
<a name="l01723"></a>01723 <span class="keyword">inline</span> <span class="keywordtype">void</span> generate2DObject(TObject2D &obj)<span class="keyword"> const </span>{
<a name="l01724"></a>01724 <span class="keywordflow">switch</span> (type) {
<a name="l01725"></a>01725 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01726"></a>01726 obj=TPoint2D(*(data.point));
<a name="l01727"></a>01727 <span class="keywordflow">break</span>;
<a name="l01728"></a>01728 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01729"></a>01729 obj=TSegment2D(*(data.segment));
<a name="l01730"></a>01730 <span class="keywordflow">break</span>;
<a name="l01731"></a>01731 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01732"></a>01732 obj=TLine2D(*(data.line));
<a name="l01733"></a>01733 <span class="keywordflow">break</span>;
<a name="l01734"></a>01734 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01735"></a>01735 obj=TPolygon2D(*(data.polygon));
<a name="l01736"></a>01736 <span class="keywordflow">break</span>;
<a name="l01737"></a>01737 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>:
<a name="l01738"></a>01738 <span class="keywordflow">throw</span> std::logic_error(<span class="stringliteral">"Too many dimensions"</span>);
<a name="l01739"></a>01739 <span class="keywordflow">default</span>:
<a name="l01740"></a>01740 obj=TObject2D();
<a name="l01741"></a>01741 <span class="keywordflow">break</span>;
<a name="l01742"></a>01742 }
<a name="l01743"></a>01743 }<span class="comment"></span>
<a name="l01744"></a>01744 <span class="comment"> /**</span>
<a name="l01745"></a>01745 <span class="comment"> * Constructs from another object.</span>
<a name="l01746"></a>01746 <span class="comment"> */</span>
<a name="l01747"></a>01747 <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a> &obj):type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {
<a name="l01748"></a>01748 operator=(obj);
<a name="l01749"></a>01749 }<span class="comment"></span>
<a name="l01750"></a>01750 <span class="comment"> /**</span>
<a name="l01751"></a>01751 <span class="comment"> * Static method to retrieve every point included in a vector of objects.</span>
<a name="l01752"></a>01752 <span class="comment"> */</span>
<a name="l01753"></a>01753 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPoint3D> &pnts);<span class="comment"></span>
<a name="l01754"></a>01754 <span class="comment"> /**</span>
<a name="l01755"></a>01755 <span class="comment"> * Static method to retrieve every segment included in a vector of objects.</span>
<a name="l01756"></a>01756 <span class="comment"> */</span>
<a name="l01757"></a>01757 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TSegment3D> &sgms);<span class="comment"></span>
<a name="l01758"></a>01758 <span class="comment"> /**</span>
<a name="l01759"></a>01759 <span class="comment"> * Static method to retrieve every line included in a vector of objects.</span>
<a name="l01760"></a>01760 <span class="comment"> */</span>
<a name="l01761"></a>01761 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TLine3D> &lins);<span class="comment"></span>
<a name="l01762"></a>01762 <span class="comment"> /**</span>
<a name="l01763"></a>01763 <span class="comment"> * Static method to retrieve every plane included in a vector of objects.</span>
<a name="l01764"></a>01764 <span class="comment"> */</span>
<a name="l01765"></a>01765 <span class="keyword">static</span> <span class="keywordtype">void</span> getPlanes(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPlane> &plns);<span class="comment"></span>
<a name="l01766"></a>01766 <span class="comment"> /**</span>
<a name="l01767"></a>01767 <span class="comment"> * Static method to retrieve every polygon included in a vector of objects.</span>
<a name="l01768"></a>01768 <span class="comment"> */</span>
<a name="l01769"></a>01769 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPolygon3D> &polys);<span class="comment"></span>
<a name="l01770"></a>01770 <span class="comment"> /**</span>
<a name="l01771"></a>01771 <span class="comment"> * Static method to retrieve every point included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l01772"></a>01772 <span class="comment"> */</span>
<a name="l01773"></a>01773 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPoint3D> &pnts,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l01774"></a>01774 <span class="comment"> /**</span>
<a name="l01775"></a>01775 <span class="comment"> * Static method to retrieve every segment included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l01776"></a>01776 <span class="comment"> */</span>
<a name="l01777"></a>01777 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TSegment3D> &sgms,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l01778"></a>01778 <span class="comment"> /**</span>
<a name="l01779"></a>01779 <span class="comment"> * Static method to retrieve every line included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l01780"></a>01780 <span class="comment"> */</span>
<a name="l01781"></a>01781 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TLine3D> &lins,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l01782"></a>01782 <span class="comment"> /**</span>
<a name="l01783"></a>01783 <span class="comment"> * Static method to retrieve every plane included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l01784"></a>01784 <span class="comment"> */</span>
<a name="l01785"></a>01785 <span class="keyword">static</span> <span class="keywordtype">void</span> getPlanes(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPlane> &plns,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l01786"></a>01786 <span class="comment"> /**</span>
<a name="l01787"></a>01787 <span class="comment"> * Static method to retrieve every polygon included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l01788"></a>01788 <span class="comment"> */</span>
<a name="l01789"></a>01789 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPolygon3D> &polys,std::vector<TObject3D> &remainder);
<a name="l01790"></a>01790 };
<a name="l01791"></a>01791 <span class="preprocessor">#else</span>
<a name="l01792"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html">01792</a> <span class="preprocessor"></span> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> {
<a name="l01793"></a>01793 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l01794"></a>01794 <span class="comment"> /**</span>
<a name="l01795"></a>01795 <span class="comment"> * Object type identifier.</span>
<a name="l01796"></a>01796 <span class="comment"> */</span>
<a name="l01797"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a7655cd0519a403e4e4c2393debd6b0da">01797</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type;<span class="comment"></span>
<a name="l01798"></a>01798 <span class="comment"> /**</span>
<a name="l01799"></a>01799 <span class="comment"> * Union type storing pointers to every allowed type.</span>
<a name="l01800"></a>01800 <span class="comment"> */</span>
<a name="l01801"></a>01801 <span class="keyword">struct </span>{
<a name="l01802"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a639f8f371a97ffba68507854f5bc38e3">01802</a> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> point;
<a name="l01803"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1bb4e6be37d0ded92003a8354afde2f7">01803</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> segment;
<a name="l01804"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a01aa4796b65b1ecfd003c66f27593d8b">01804</a> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> line;
<a name="l01805"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a000cf67c03b26e1afc7ebba2f7054649">01805</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> *polygon;
<a name="l01806"></a>01806 } data;<span class="comment"></span>
<a name="l01807"></a>01807 <span class="comment"> /**</span>
<a name="l01808"></a>01808 <span class="comment"> * Destroys the object, releasing the pointer to the content (if any).</span>
<a name="l01809"></a>01809 <span class="comment"> */</span>
<a name="l01810"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aadfa7a72d6ac7dc6b595db651bbba88e">01810</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aadfa7a72d6ac7dc6b595db651bbba88e" title="Destroys the object, releasing the pointer to the content (if any).">destroy</a>() {
<a name="l01811"></a>01811 <span class="keywordflow">if</span> (type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) <span class="keyword">delete</span> data.polygon;
<a name="l01812"></a>01812 type=<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>;
<a name="l01813"></a>01813 }
<a name="l01814"></a>01814 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l01815"></a>01815 <span class="comment"> /**</span>
<a name="l01816"></a>01816 <span class="comment"> * Implicit constructor from point.</span>
<a name="l01817"></a>01817 <span class="comment"> */</span>
<a name="l01818"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a4e58c6783dec7d8c576d33c8d2df025f">01818</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a4e58c6783dec7d8c576d33c8d2df025f" title="Implicit constructor from point.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>) {
<a name="l01819"></a>01819 data.point=p;
<a name="l01820"></a>01820 }<span class="comment"></span>
<a name="l01821"></a>01821 <span class="comment"> /**</span>
<a name="l01822"></a>01822 <span class="comment"> * Implicit constructor from segment.</span>
<a name="l01823"></a>01823 <span class="comment"> */</span>
<a name="l01824"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aca2c3c6cb60b90a9c120d469a68a1fb7">01824</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aca2c3c6cb60b90a9c120d469a68a1fb7" title="Implicit constructor from segment.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s):type(<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>) {
<a name="l01825"></a>01825 data.segment=s;
<a name="l01826"></a>01826 }<span class="comment"></span>
<a name="l01827"></a>01827 <span class="comment"> /**</span>
<a name="l01828"></a>01828 <span class="comment"> * Implicit constructor from line.</span>
<a name="l01829"></a>01829 <span class="comment"> */</span>
<a name="l01830"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a7cf6423dd1ab1a56c52ce591376a6d31">01830</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a7cf6423dd1ab1a56c52ce591376a6d31" title="Implicit constructor from line.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &r):type(<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>) {
<a name="l01831"></a>01831 data.line=r;
<a name="l01832"></a>01832 }<span class="comment"></span>
<a name="l01833"></a>01833 <span class="comment"> /**</span>
<a name="l01834"></a>01834 <span class="comment"> * Implicit constructor from polygon.</span>
<a name="l01835"></a>01835 <span class="comment"> */</span>
<a name="l01836"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac83c29cac983807f30f92ccec5d3b507">01836</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac83c29cac983807f30f92ccec5d3b507" title="Implicit constructor from polygon.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) {
<a name="l01837"></a>01837 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(p);
<a name="l01838"></a>01838 }<span class="comment"></span>
<a name="l01839"></a>01839 <span class="comment"> /**</span>
<a name="l01840"></a>01840 <span class="comment"> * Implicit constructor from polygon.</span>
<a name="l01841"></a>01841 <span class="comment"> */</span>
<a name="l01842"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ae7a8916fe1e7425d115d103ce240daa7">01842</a> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ae7a8916fe1e7425d115d103ce240daa7" title="Implicit constructor from polygon.">TObject2D</a>():type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {}<span class="comment"></span>
<a name="l01843"></a>01843 <span class="comment"> /**</span>
<a name="l01844"></a>01844 <span class="comment"> * Object destruction.</span>
<a name="l01845"></a>01845 <span class="comment"> */</span>
<a name="l01846"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a714861f7d71e5d8d0721c01e93a1d3bd">01846</a> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a714861f7d71e5d8d0721c01e93a1d3bd" title="Object destruction.">~TObject2D</a>() {
<a name="l01847"></a>01847 destroy();
<a name="l01848"></a>01848 }<span class="comment"></span>
<a name="l01849"></a>01849 <span class="comment"> /**</span>
<a name="l01850"></a>01850 <span class="comment"> * Checks whether content is a point.</span>
<a name="l01851"></a>01851 <span class="comment"> */</span>
<a name="l01852"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aa2aa7cb77c3c6f740836db18dc42cd97">01852</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aa2aa7cb77c3c6f740836db18dc42cd97" title="Checks whether content is a point.">isPoint</a>()<span class="keyword"> const </span>{
<a name="l01853"></a>01853 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01854"></a>01854 }<span class="comment"></span>
<a name="l01855"></a>01855 <span class="comment"> /**</span>
<a name="l01856"></a>01856 <span class="comment"> * Checks whether content is a segment.</span>
<a name="l01857"></a>01857 <span class="comment"> */</span>
<a name="l01858"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#af26c88885f1fae595ce4015eb4d5755f">01858</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#af26c88885f1fae595ce4015eb4d5755f" title="Checks whether content is a segment.">isSegment</a>()<span class="keyword"> const </span>{
<a name="l01859"></a>01859 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01860"></a>01860 }<span class="comment"></span>
<a name="l01861"></a>01861 <span class="comment"> /**</span>
<a name="l01862"></a>01862 <span class="comment"> * Checks whether content is a line.</span>
<a name="l01863"></a>01863 <span class="comment"> */</span>
<a name="l01864"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a48afd1998c42d25f641b6d5b74f3a2fe">01864</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a48afd1998c42d25f641b6d5b74f3a2fe" title="Checks whether content is a line.">isLine</a>()<span class="keyword"> const </span>{
<a name="l01865"></a>01865 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01866"></a>01866 }<span class="comment"></span>
<a name="l01867"></a>01867 <span class="comment"> /**</span>
<a name="l01868"></a>01868 <span class="comment"> * Checks whether content is a polygon.</span>
<a name="l01869"></a>01869 <span class="comment"> */</span>
<a name="l01870"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aa26e3d709163eb4b976bd8926f6e3858">01870</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aa26e3d709163eb4b976bd8926f6e3858" title="Checks whether content is a polygon.">isPolygon</a>()<span class="keyword"> const </span>{
<a name="l01871"></a>01871 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01872"></a>01872 }<span class="comment"></span>
<a name="l01873"></a>01873 <span class="comment"> /**</span>
<a name="l01874"></a>01874 <span class="comment"> * Gets content type.</span>
<a name="l01875"></a>01875 <span class="comment"> */</span>
<a name="l01876"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aee224b1b599dca87189399def8c07da2">01876</a> <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aee224b1b599dca87189399def8c07da2" title="Gets content type.">getType</a>()<span class="keyword"> const </span>{
<a name="l01877"></a>01877 <span class="keywordflow">return</span> type;
<a name="l01878"></a>01878 }<span class="comment"></span>
<a name="l01879"></a>01879 <span class="comment"> /**</span>
<a name="l01880"></a>01880 <span class="comment"> * Gets the content as a point, returning false if the type is inadequate.</span>
<a name="l01881"></a>01881 <span class="comment"> */</span>
<a name="l01882"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac0efac6ec7de378d55f5ce6e64f80ac2">01882</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac0efac6ec7de378d55f5ce6e64f80ac2" title="Gets the content as a point, returning false if the type is inadequate.">getPoint</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p)<span class="keyword"> const </span>{
<a name="l01883"></a>01883 <span class="keywordflow">if</span> (isPoint()) {
<a name="l01884"></a>01884 p=data.point;
<a name="l01885"></a>01885 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01886"></a>01886 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01887"></a>01887 }<span class="comment"></span>
<a name="l01888"></a>01888 <span class="comment"> /**</span>
<a name="l01889"></a>01889 <span class="comment"> * Gets the content as a segment, returning false if the type is inadequate.</span>
<a name="l01890"></a>01890 <span class="comment"> */</span>
<a name="l01891"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a6750b0792af014b2b5daea3f8cc5c746">01891</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a6750b0792af014b2b5daea3f8cc5c746" title="Gets the content as a segment, returning false if the type is inadequate.">getSegment</a>(<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s)<span class="keyword"> const </span>{
<a name="l01892"></a>01892 <span class="keywordflow">if</span> (isSegment()) {
<a name="l01893"></a>01893 s=data.segment;
<a name="l01894"></a>01894 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01895"></a>01895 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01896"></a>01896 }<span class="comment"></span>
<a name="l01897"></a>01897 <span class="comment"> /**</span>
<a name="l01898"></a>01898 <span class="comment"> * Gets the content as a line, returning false if the type is inadequate.</span>
<a name="l01899"></a>01899 <span class="comment"> */</span>
<a name="l01900"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#adfd4f1fc23d73b917fd66bae2045683a">01900</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#adfd4f1fc23d73b917fd66bae2045683a" title="Gets the content as a line, returning false if the type is inadequate.">getLine</a>(<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &r)<span class="keyword"> const </span>{
<a name="l01901"></a>01901 <span class="keywordflow">if</span> (isLine()) {
<a name="l01902"></a>01902 r=data.line;
<a name="l01903"></a>01903 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01904"></a>01904 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01905"></a>01905 }<span class="comment"></span>
<a name="l01906"></a>01906 <span class="comment"> /**</span>
<a name="l01907"></a>01907 <span class="comment"> * Gets the content as a polygon, returning false if the type is inadequate.</span>
<a name="l01908"></a>01908 <span class="comment"> */</span>
<a name="l01909"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1e454dbbfd9186a35b7cefb79c02c331">01909</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1e454dbbfd9186a35b7cefb79c02c331" title="Gets the content as a polygon, returning false if the type is inadequate.">getPolygon</a>(<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p)<span class="keyword"> const </span>{
<a name="l01910"></a>01910 <span class="keywordflow">if</span> (isPolygon()) {
<a name="l01911"></a>01911 p=*(data.polygon);
<a name="l01912"></a>01912 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01913"></a>01913 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01914"></a>01914 }<span class="comment"></span>
<a name="l01915"></a>01915 <span class="comment"> /**</span>
<a name="l01916"></a>01916 <span class="comment"> * Assign another TObject2D. Pointers are not shared.</span>
<a name="l01917"></a>01917 <span class="comment"> */</span>
<a name="l01918"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac024397d6d6c04156783219926bdca0b">01918</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ac024397d6d6c04156783219926bdca0b" title="Assign another TObject2D.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> &obj) {
<a name="l01919"></a>01919 <span class="keywordflow">if</span> (<span class="keyword">this</span>==&obj) <span class="keywordflow">return</span>;
<a name="l01920"></a>01920 destroy();
<a name="l01921"></a>01921 <span class="keywordflow">switch</span> (type=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a7655cd0519a403e4e4c2393debd6b0da" title="Object type identifier.">type</a>) {
<a name="l01922"></a>01922 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l01923"></a>01923 data.point=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a639f8f371a97ffba68507854f5bc38e3">point</a>;
<a name="l01924"></a>01924 <span class="keywordflow">break</span>;
<a name="l01925"></a>01925 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l01926"></a>01926 data.segment=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1bb4e6be37d0ded92003a8354afde2f7">segment</a>;
<a name="l01927"></a>01927 <span class="keywordflow">break</span>;
<a name="l01928"></a>01928 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l01929"></a>01929 data.line=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a01aa4796b65b1ecfd003c66f27593d8b">line</a>;
<a name="l01930"></a>01930 <span class="keywordflow">break</span>;
<a name="l01931"></a>01931 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l01932"></a>01932 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a112c3e8863793b13c67d904572227749" title="Union type storing pointers to every allowed type.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a000cf67c03b26e1afc7ebba2f7054649">polygon</a>));
<a name="l01933"></a>01933 <span class="keywordflow">break</span>;
<a name="l01934"></a>01934 }
<a name="l01935"></a>01935 }<span class="comment"></span>
<a name="l01936"></a>01936 <span class="comment"> /**</span>
<a name="l01937"></a>01937 <span class="comment"> * Assign a point to this object.</span>
<a name="l01938"></a>01938 <span class="comment"> */</span>
<a name="l01939"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1d638d92e0cb1f1fa7c4c52126ee93bb">01939</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a1d638d92e0cb1f1fa7c4c52126ee93bb" title="Assign a point to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) {
<a name="l01940"></a>01940 destroy();
<a name="l01941"></a>01941 type=<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l01942"></a>01942 data.point=p;
<a name="l01943"></a>01943 }<span class="comment"></span>
<a name="l01944"></a>01944 <span class="comment"> /**</span>
<a name="l01945"></a>01945 <span class="comment"> * Assign a segment to this object.</span>
<a name="l01946"></a>01946 <span class="comment"> */</span>
<a name="l01947"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ad74f6e87657cc65a7de6c7be2c8d03b8">01947</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#ad74f6e87657cc65a7de6c7be2c8d03b8" title="Assign a segment to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a> &s) {
<a name="l01948"></a>01948 destroy();
<a name="l01949"></a>01949 type=<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l01950"></a>01950 data.segment=s;
<a name="l01951"></a>01951 }<span class="comment"></span>
<a name="l01952"></a>01952 <span class="comment"> /**</span>
<a name="l01953"></a>01953 <span class="comment"> * Assign a line to this object.</span>
<a name="l01954"></a>01954 <span class="comment"> */</span>
<a name="l01955"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aae97b9b79f64f76d176211e7f7e79980">01955</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#aae97b9b79f64f76d176211e7f7e79980" title="Assign a line to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a> &l) {
<a name="l01956"></a>01956 destroy();
<a name="l01957"></a>01957 type=<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l01958"></a>01958 data.line=l;
<a name="l01959"></a>01959 }<span class="comment"></span>
<a name="l01960"></a>01960 <span class="comment"> /**</span>
<a name="l01961"></a>01961 <span class="comment"> * Assign a polygon to this object.</span>
<a name="l01962"></a>01962 <span class="comment"> */</span>
<a name="l01963"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a8cb2a1c4df7160457eb02f09aba0e062">01963</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a8cb2a1c4df7160457eb02f09aba0e062" title="Assign a polygon to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a> &p) {
<a name="l01964"></a>01964 destroy();
<a name="l01965"></a>01965 type=<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l01966"></a>01966 data.polygon=<span class="keyword">new</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(p);
<a name="l01967"></a>01967 }<span class="comment"></span>
<a name="l01968"></a>01968 <span class="comment"> /**</span>
<a name="l01969"></a>01969 <span class="comment"> * Project into 3D space.</span>
<a name="l01970"></a>01970 <span class="comment"> */</span>
<a name="l01971"></a>01971 <span class="keywordtype">void</span> generate3DObject(<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> &obj) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l01972"></a>01972 <span class="comment"> /**</span>
<a name="l01973"></a>01973 <span class="comment"> * Constructor from another TObject2D.</span>
<a name="l01974"></a>01974 <span class="comment"> */</span>
<a name="l01975"></a><a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a8c919a643641ed794172f2ed64c56570">01975</a> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html#a8c919a643641ed794172f2ed64c56570" title="Constructor from another TObject2D.">TObject2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> &obj):type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {
<a name="l01976"></a>01976 operator=(obj);
<a name="l01977"></a>01977 }<span class="comment"></span>
<a name="l01978"></a>01978 <span class="comment"> /**</span>
<a name="l01979"></a>01979 <span class="comment"> * Static method to retrieve all the points in a vector of TObject2D.</span>
<a name="l01980"></a>01980 <span class="comment"> */</span>
<a name="l01981"></a>01981 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPoint2D> &pnts);<span class="comment"></span>
<a name="l01982"></a>01982 <span class="comment"> /**</span>
<a name="l01983"></a>01983 <span class="comment"> * Static method to retrieve all the segments in a vector of TObject2D.</span>
<a name="l01984"></a>01984 <span class="comment"> */</span>
<a name="l01985"></a>01985 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TSegment2D> &sgms);<span class="comment"></span>
<a name="l01986"></a>01986 <span class="comment"> /**</span>
<a name="l01987"></a>01987 <span class="comment"> * Static method to retrieve all the lines in a vector of TObject2D.</span>
<a name="l01988"></a>01988 <span class="comment"> */</span>
<a name="l01989"></a>01989 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TLine2D> &lins);<span class="comment"></span>
<a name="l01990"></a>01990 <span class="comment"> /**</span>
<a name="l01991"></a>01991 <span class="comment"> * Static method to retrieve all the polygons in a vector of TObject2D.</span>
<a name="l01992"></a>01992 <span class="comment"> */</span>
<a name="l01993"></a>01993 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPolygon2D> &polys);<span class="comment"></span>
<a name="l01994"></a>01994 <span class="comment"> /**</span>
<a name="l01995"></a>01995 <span class="comment"> * Static method to retrieve all the points in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l01996"></a>01996 <span class="comment"> */</span>
<a name="l01997"></a>01997 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPoint2D> &pnts,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l01998"></a>01998 <span class="comment"> /**</span>
<a name="l01999"></a>01999 <span class="comment"> * Static method to retrieve all the segments in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l02000"></a>02000 <span class="comment"> */</span>
<a name="l02001"></a>02001 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TSegment2D> &sgms,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l02002"></a>02002 <span class="comment"> /**</span>
<a name="l02003"></a>02003 <span class="comment"> * Static method to retrieve all the lines in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l02004"></a>02004 <span class="comment"> */</span>
<a name="l02005"></a>02005 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TLine2D> &lins,std::vector<TObject2D> &remainder);<span class="comment"></span>
<a name="l02006"></a>02006 <span class="comment"> /**</span>
<a name="l02007"></a>02007 <span class="comment"> * Static method to retrieve all the polygons in a vector of TObject2D, returning the remainder objects in another parameter.</span>
<a name="l02008"></a>02008 <span class="comment"> */</span>
<a name="l02009"></a>02009 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject2D> &objs,std::vector<TPolygon2D> &polys,std::vector<TObject2D> &remainder);
<a name="l02010"></a>02010 };<span class="comment"></span>
<a name="l02011"></a>02011 <span class="comment"> /**</span>
<a name="l02012"></a>02012 <span class="comment"> * Standard object for storing any 3D lightweight object. Do not inherit from this class.</span>
<a name="l02013"></a>02013 <span class="comment"> * \sa TPoint3D,TSegment3D,TLine3D,TPlane,TPolygon3D</span>
<a name="l02014"></a>02014 <span class="comment"> */</span>
<a name="l02015"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html">02015</a> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> {
<a name="l02016"></a>02016 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l02017"></a>02017 <span class="comment"> /**</span>
<a name="l02018"></a>02018 <span class="comment"> * Object type identifier.</span>
<a name="l02019"></a>02019 <span class="comment"> */</span>
<a name="l02020"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#acc2d1bbbae29e99b1e10b0a1f21e2f94">02020</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type;<span class="comment"></span>
<a name="l02021"></a>02021 <span class="comment"> /**</span>
<a name="l02022"></a>02022 <span class="comment"> * Union containing pointer to actual data.</span>
<a name="l02023"></a>02023 <span class="comment"> */</span>
<a name="l02024"></a>02024 <span class="keyword">struct </span>{
<a name="l02025"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a9bf83bb6456777826a7f27dd1ec3b0e7">02025</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> point;
<a name="l02026"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aae896b7288413bf7ecc66d9912433f18">02026</a> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> segment;
<a name="l02027"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a34fa68120ef7d84fea9c0f9b9cd27c62">02027</a> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> line;
<a name="l02028"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad21f939efa13a8a24cde2257a4c88eac">02028</a> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> *polygon;
<a name="l02029"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a3878492604c5d553e0dfbfd20c5e0c2e">02029</a> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> plane;
<a name="l02030"></a>02030 } data;<span class="comment"></span>
<a name="l02031"></a>02031 <span class="comment"> /**</span>
<a name="l02032"></a>02032 <span class="comment"> * Destroys the object and releases the pointer, if any.</span>
<a name="l02033"></a>02033 <span class="comment"> */</span>
<a name="l02034"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a44ac1fa68bb7c6c7ca9677d5c69d49fe">02034</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a44ac1fa68bb7c6c7ca9677d5c69d49fe" title="Destroys the object and releases the pointer, if any.">destroy</a>() {
<a name="l02035"></a>02035 <span class="keywordflow">if</span> (type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) <span class="keyword">delete</span> data.polygon;
<a name="l02036"></a>02036 type=<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>;
<a name="l02037"></a>02037 }
<a name="l02038"></a>02038 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l02039"></a>02039 <span class="comment"> /**</span>
<a name="l02040"></a>02040 <span class="comment"> * Constructor from point.</span>
<a name="l02041"></a>02041 <span class="comment"> */</span>
<a name="l02042"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a970f3cd26dd4778af7cfc4392a08c163">02042</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a970f3cd26dd4778af7cfc4392a08c163" title="Constructor from point.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>) {
<a name="l02043"></a>02043 data.point=p;
<a name="l02044"></a>02044 }<span class="comment"></span>
<a name="l02045"></a>02045 <span class="comment"> /**</span>
<a name="l02046"></a>02046 <span class="comment"> * Constructor from segment.</span>
<a name="l02047"></a>02047 <span class="comment"> */</span>
<a name="l02048"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ababb460d5216bf36ac8862b0f87884fe">02048</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ababb460d5216bf36ac8862b0f87884fe" title="Constructor from segment.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s):type(<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>) {
<a name="l02049"></a>02049 data.segment=s;
<a name="l02050"></a>02050 }<span class="comment"></span>
<a name="l02051"></a>02051 <span class="comment"> /**</span>
<a name="l02052"></a>02052 <span class="comment"> * Constructor from line.</span>
<a name="l02053"></a>02053 <span class="comment"> */</span>
<a name="l02054"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a43ce1399e8d1bfa6a49f479d11a52d9e">02054</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a43ce1399e8d1bfa6a49f479d11a52d9e" title="Constructor from line.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &r):type(<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>) {
<a name="l02055"></a>02055 data.line=r;
<a name="l02056"></a>02056 }<span class="comment"></span>
<a name="l02057"></a>02057 <span class="comment"> /**</span>
<a name="l02058"></a>02058 <span class="comment"> * Constructor from polygon.</span>
<a name="l02059"></a>02059 <span class="comment"> */</span>
<a name="l02060"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad91b1c2b72953222ebc9a057cd84a57f">02060</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad91b1c2b72953222ebc9a057cd84a57f" title="Constructor from polygon.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>) {
<a name="l02061"></a>02061 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(p);
<a name="l02062"></a>02062 }<span class="comment"></span>
<a name="l02063"></a>02063 <span class="comment"> /**</span>
<a name="l02064"></a>02064 <span class="comment"> * Constructor from plane.</span>
<a name="l02065"></a>02065 <span class="comment"> */</span>
<a name="l02066"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a5bff987c33c6a6603b6e827bc04f5d5a">02066</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a5bff987c33c6a6603b6e827bc04f5d5a" title="Constructor from plane.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> &p):type(<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>) {
<a name="l02067"></a>02067 data.plane=p;
<a name="l02068"></a>02068 }<span class="comment"></span>
<a name="l02069"></a>02069 <span class="comment"> /**</span>
<a name="l02070"></a>02070 <span class="comment"> * Empty constructor.</span>
<a name="l02071"></a>02071 <span class="comment"> */</span>
<a name="l02072"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ade3053140c7bbd225835449061a49e71">02072</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ade3053140c7bbd225835449061a49e71" title="Empty constructor.">TObject3D</a>():type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {}<span class="comment"></span>
<a name="l02073"></a>02073 <span class="comment"> /**</span>
<a name="l02074"></a>02074 <span class="comment"> * Destructor.</span>
<a name="l02075"></a>02075 <span class="comment"> */</span>
<a name="l02076"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a6905725c2560caed5c6e4e7ff876046e">02076</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a6905725c2560caed5c6e4e7ff876046e" title="Destructor.">~TObject3D</a>() {
<a name="l02077"></a>02077 destroy();
<a name="l02078"></a>02078 }<span class="comment"></span>
<a name="l02079"></a>02079 <span class="comment"> /**</span>
<a name="l02080"></a>02080 <span class="comment"> * Checks whether content is a point.</span>
<a name="l02081"></a>02081 <span class="comment"> */</span>
<a name="l02082"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad462e547cc7b5db8b99c7a2b852bee5a">02082</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad462e547cc7b5db8b99c7a2b852bee5a" title="Checks whether content is a point.">isPoint</a>()<span class="keyword"> const </span>{
<a name="l02083"></a>02083 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l02084"></a>02084 }<span class="comment"></span>
<a name="l02085"></a>02085 <span class="comment"> /**</span>
<a name="l02086"></a>02086 <span class="comment"> * Checks whether content is a segment.</span>
<a name="l02087"></a>02087 <span class="comment"> */</span>
<a name="l02088"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a38a7b74f1c2e7161b1a068710c079081">02088</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a38a7b74f1c2e7161b1a068710c079081" title="Checks whether content is a segment.">isSegment</a>()<span class="keyword"> const </span>{
<a name="l02089"></a>02089 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l02090"></a>02090 }<span class="comment"></span>
<a name="l02091"></a>02091 <span class="comment"> /**</span>
<a name="l02092"></a>02092 <span class="comment"> * Checks whether content is a line.</span>
<a name="l02093"></a>02093 <span class="comment"> */</span>
<a name="l02094"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a85ade6c622e50311e7580448d2718add">02094</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a85ade6c622e50311e7580448d2718add" title="Checks whether content is a line.">isLine</a>()<span class="keyword"> const </span>{
<a name="l02095"></a>02095 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l02096"></a>02096 }<span class="comment"></span>
<a name="l02097"></a>02097 <span class="comment"> /**</span>
<a name="l02098"></a>02098 <span class="comment"> * Checks whether content is a polygon.</span>
<a name="l02099"></a>02099 <span class="comment"> */</span>
<a name="l02100"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a644c7174c84be0bde895dd75182cb8cc">02100</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a644c7174c84be0bde895dd75182cb8cc" title="Checks whether content is a polygon.">isPolygon</a>()<span class="keyword"> const </span>{
<a name="l02101"></a>02101 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l02102"></a>02102 }<span class="comment"></span>
<a name="l02103"></a>02103 <span class="comment"> /**</span>
<a name="l02104"></a>02104 <span class="comment"> * Checks whether content is a plane.</span>
<a name="l02105"></a>02105 <span class="comment"> */</span>
<a name="l02106"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a24f2b004d93fd33c6c32da82f8b98bd0">02106</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a24f2b004d93fd33c6c32da82f8b98bd0" title="Checks whether content is a plane.">isPlane</a>()<span class="keyword"> const </span>{
<a name="l02107"></a>02107 <span class="keywordflow">return</span> type==<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>;
<a name="l02108"></a>02108 }<span class="comment"></span>
<a name="l02109"></a>02109 <span class="comment"> /**</span>
<a name="l02110"></a>02110 <span class="comment"> * Gets object type.</span>
<a name="l02111"></a>02111 <span class="comment"> */</span>
<a name="l02112"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aa3844494f4d8617a5ac5120b9a2761ac">02112</a> <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aa3844494f4d8617a5ac5120b9a2761ac" title="Gets object type.">getType</a>()<span class="keyword"> const </span>{
<a name="l02113"></a>02113 <span class="keywordflow">return</span> type;
<a name="l02114"></a>02114 }<span class="comment"></span>
<a name="l02115"></a>02115 <span class="comment"> /**</span>
<a name="l02116"></a>02116 <span class="comment"> * Gets the content as a point, returning false if the type is not adequate.</span>
<a name="l02117"></a>02117 <span class="comment"> */</span>
<a name="l02118"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a4f786f709cb55a0f2d2e75db532c9429">02118</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a4f786f709cb55a0f2d2e75db532c9429" title="Gets the content as a point, returning false if the type is not adequate.">getPoint</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p)<span class="keyword"> const </span>{
<a name="l02119"></a>02119 <span class="keywordflow">if</span> (isPoint()) {
<a name="l02120"></a>02120 p=data.point;
<a name="l02121"></a>02121 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l02122"></a>02122 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l02123"></a>02123 }<span class="comment"></span>
<a name="l02124"></a>02124 <span class="comment"> /**</span>
<a name="l02125"></a>02125 <span class="comment"> * Gets the content as a segment, returning false if the type is not adequate.</span>
<a name="l02126"></a>02126 <span class="comment"> */</span>
<a name="l02127"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#acdff874c03ff29e10ea2f4638513f748">02127</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#acdff874c03ff29e10ea2f4638513f748" title="Gets the content as a segment, returning false if the type is not adequate.">getSegment</a>(<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s)<span class="keyword"> const </span>{
<a name="l02128"></a>02128 <span class="keywordflow">if</span> (isSegment()) {
<a name="l02129"></a>02129 s=data.segment;
<a name="l02130"></a>02130 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l02131"></a>02131 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l02132"></a>02132 }<span class="comment"></span>
<a name="l02133"></a>02133 <span class="comment"> /**</span>
<a name="l02134"></a>02134 <span class="comment"> * Gets the content as a line, returning false if the type is not adequate.</span>
<a name="l02135"></a>02135 <span class="comment"> */</span>
<a name="l02136"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a9dcbf0e2c9be05e0077146e3ae46b75c">02136</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a9dcbf0e2c9be05e0077146e3ae46b75c" title="Gets the content as a line, returning false if the type is not adequate.">getLine</a>(<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &r)<span class="keyword"> const </span>{
<a name="l02137"></a>02137 <span class="keywordflow">if</span> (isLine()) {
<a name="l02138"></a>02138 r=data.line;
<a name="l02139"></a>02139 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l02140"></a>02140 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l02141"></a>02141 }<span class="comment"></span>
<a name="l02142"></a>02142 <span class="comment"> /**</span>
<a name="l02143"></a>02143 <span class="comment"> * Gets the content as a polygon, returning false if the type is not adequate.</span>
<a name="l02144"></a>02144 <span class="comment"> */</span>
<a name="l02145"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aea4f58671cbc6b85f9f8f2d58a8dacc3">02145</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aea4f58671cbc6b85f9f8f2d58a8dacc3" title="Gets the content as a polygon, returning false if the type is not adequate.">getPolygon</a>(<a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &p)<span class="keyword"> const </span>{
<a name="l02146"></a>02146 <span class="keywordflow">if</span> (isPolygon()) {
<a name="l02147"></a>02147 p=*(data.polygon);
<a name="l02148"></a>02148 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l02149"></a>02149 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l02150"></a>02150 }<span class="comment"></span>
<a name="l02151"></a>02151 <span class="comment"> /**</span>
<a name="l02152"></a>02152 <span class="comment"> * Gets the content as a plane, returning false if the type is not adequate.</span>
<a name="l02153"></a>02153 <span class="comment"> */</span>
<a name="l02154"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a338da7e44d81c0848934aceacb548bcb">02154</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a338da7e44d81c0848934aceacb548bcb" title="Gets the content as a plane, returning false if the type is not adequate.">getPlane</a>(<a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> &p)<span class="keyword"> const </span>{
<a name="l02155"></a>02155 <span class="keywordflow">if</span> (isPlane()) {
<a name="l02156"></a>02156 p=data.plane;
<a name="l02157"></a>02157 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l02158"></a>02158 } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l02159"></a>02159 }<span class="comment"></span>
<a name="l02160"></a>02160 <span class="comment"> /**</span>
<a name="l02161"></a>02161 <span class="comment"> * Assigns another object, creating a new pointer if needed.</span>
<a name="l02162"></a>02162 <span class="comment"> */</span>
<a name="l02163"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a0283e622498561c1f130e5402d443487">02163</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a0283e622498561c1f130e5402d443487" title="Assigns another object, creating a new pointer if needed.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> &obj) {
<a name="l02164"></a>02164 <span class="keywordflow">if</span> (<span class="keyword">this</span>==&obj) <span class="keywordflow">return</span>;
<a name="l02165"></a>02165 destroy();
<a name="l02166"></a>02166 <span class="keywordflow">switch</span> (type=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#acc2d1bbbae29e99b1e10b0a1f21e2f94" title="Object type identifier.">type</a>) {
<a name="l02167"></a>02167 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l02168"></a>02168 data.point=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a1dc394d6d394dbfd3b4953dc8b39c9c4" title="Union containing pointer to actual data.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a9bf83bb6456777826a7f27dd1ec3b0e7">point</a>;
<a name="l02169"></a>02169 <span class="keywordflow">break</span>;
<a name="l02170"></a>02170 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l02171"></a>02171 data.segment=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a1dc394d6d394dbfd3b4953dc8b39c9c4" title="Union containing pointer to actual data.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aae896b7288413bf7ecc66d9912433f18">segment</a>;
<a name="l02172"></a>02172 <span class="keywordflow">break</span>;
<a name="l02173"></a>02173 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l02174"></a>02174 data.line=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a1dc394d6d394dbfd3b4953dc8b39c9c4" title="Union containing pointer to actual data.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a34fa68120ef7d84fea9c0f9b9cd27c62">line</a>;
<a name="l02175"></a>02175 <span class="keywordflow">break</span>;
<a name="l02176"></a>02176 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l02177"></a>02177 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(*(obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a1dc394d6d394dbfd3b4953dc8b39c9c4" title="Union containing pointer to actual data.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad21f939efa13a8a24cde2257a4c88eac">polygon</a>));
<a name="l02178"></a>02178 <span class="keywordflow">break</span>;
<a name="l02179"></a>02179 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>:
<a name="l02180"></a>02180 data.plane=obj.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a1dc394d6d394dbfd3b4953dc8b39c9c4" title="Union containing pointer to actual data.">data</a>.<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a3878492604c5d553e0dfbfd20c5e0c2e">plane</a>;
<a name="l02181"></a>02181 <span class="keywordflow">break</span>;
<a name="l02182"></a>02182 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>:
<a name="l02183"></a>02183 <span class="keywordflow">break</span>;
<a name="l02184"></a>02184 <span class="keywordflow">default</span>:
<a name="l02185"></a>02185 <a class="code" href="utils__defs_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Invalid TObject3D object"</span>);
<a name="l02186"></a>02186 }
<a name="l02187"></a>02187 }<span class="comment"></span>
<a name="l02188"></a>02188 <span class="comment"> /**</span>
<a name="l02189"></a>02189 <span class="comment"> * Assigns a point to this object.</span>
<a name="l02190"></a>02190 <span class="comment"> */</span>
<a name="l02191"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a10e983f576476c02b019bfd6983ae801">02191</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a10e983f576476c02b019bfd6983ae801" title="Assigns a point to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) {
<a name="l02192"></a>02192 destroy();
<a name="l02193"></a>02193 type=<a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>;
<a name="l02194"></a>02194 data.point=p;
<a name="l02195"></a>02195 }<span class="comment"></span>
<a name="l02196"></a>02196 <span class="comment"> /**</span>
<a name="l02197"></a>02197 <span class="comment"> * Assigns a segment to this object.</span>
<a name="l02198"></a>02198 <span class="comment"> */</span>
<a name="l02199"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a40e0d291691a7d6f95348c721adc41ce">02199</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a40e0d291691a7d6f95348c721adc41ce" title="Assigns a segment to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">TSegment3D</a> &s) {
<a name="l02200"></a>02200 destroy();
<a name="l02201"></a>02201 type=<a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>;
<a name="l02202"></a>02202 data.segment=s;
<a name="l02203"></a>02203 }<span class="comment"></span>
<a name="l02204"></a>02204 <span class="comment"> /**</span>
<a name="l02205"></a>02205 <span class="comment"> * Assigns a line to this object.</span>
<a name="l02206"></a>02206 <span class="comment"> */</span>
<a name="l02207"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aa924d262a5fc4342de9e430f9507b297">02207</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aa924d262a5fc4342de9e430f9507b297" title="Assigns a line to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">TLine3D</a> &l) {
<a name="l02208"></a>02208 destroy();
<a name="l02209"></a>02209 type=<a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>;
<a name="l02210"></a>02210 data.line=l;
<a name="l02211"></a>02211 }<span class="comment"></span>
<a name="l02212"></a>02212 <span class="comment"> /**</span>
<a name="l02213"></a>02213 <span class="comment"> * Assigns a polygon to this object.</span>
<a name="l02214"></a>02214 <span class="comment"> */</span>
<a name="l02215"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a011d8a9279e6580715d96d28caf51342">02215</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a011d8a9279e6580715d96d28caf51342" title="Assigns a polygon to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">TPolygon3D</a> &p) {
<a name="l02216"></a>02216 destroy();
<a name="l02217"></a>02217 type=<a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>;
<a name="l02218"></a>02218 data.polygon=<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>(p);
<a name="l02219"></a>02219 }<span class="comment"></span>
<a name="l02220"></a>02220 <span class="comment"> /**</span>
<a name="l02221"></a>02221 <span class="comment"> * Assigns a plane to this object.</span>
<a name="l02222"></a>02222 <span class="comment"> */</span>
<a name="l02223"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a46b85d7fd163760b7eb7f91ce52e4d64">02223</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#a46b85d7fd163760b7eb7f91ce52e4d64" title="Assigns a plane to this object.">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">TPlane</a> &p) {
<a name="l02224"></a>02224 destroy();
<a name="l02225"></a>02225 type=<a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>;
<a name="l02226"></a>02226 data.plane=p;
<a name="l02227"></a>02227 }<span class="comment"></span>
<a name="l02228"></a>02228 <span class="comment"> /**</span>
<a name="l02229"></a>02229 <span class="comment"> * Projects into 2D space.</span>
<a name="l02230"></a>02230 <span class="comment"> * \throw std::logic_error if the 3D object loses its properties when projecting into 2D space (for example, it's a plane or a vertical line).</span>
<a name="l02231"></a>02231 <span class="comment"> */</span>
<a name="l02232"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad5ba52188a351e48e6d7656e5b360a43">02232</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#ad5ba52188a351e48e6d7656e5b360a43" title="Projects into 2D space.">generate2DObject</a>(<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a> &obj)<span class="keyword"> const </span>{
<a name="l02233"></a>02233 <span class="keywordflow">switch</span> (type) {
<a name="l02234"></a>02234 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a2dbf1225dd78e1ae2cb5e7d0b7ddea52" title="Object type identifier for TPoint2D or TPoint3D.">GEOMETRIC_TYPE_POINT</a>:
<a name="l02235"></a>02235 obj=<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a>(data.point);
<a name="l02236"></a>02236 <span class="keywordflow">break</span>;
<a name="l02237"></a>02237 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#abdfe15c4a3eebe6168b00dd3a64224fc" title="Object type identifier for TSegment2D or TSegment3D.">GEOMETRIC_TYPE_SEGMENT</a>:
<a name="l02238"></a>02238 obj=<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">TSegment2D</a>(data.segment);
<a name="l02239"></a>02239 <span class="keywordflow">break</span>;
<a name="l02240"></a>02240 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a39c624c65577d653fdd4959db170f99e" title="Object type identifier for TLine2D or TLine3D.">GEOMETRIC_TYPE_LINE</a>:
<a name="l02241"></a>02241 obj=<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">TLine2D</a>(data.line);
<a name="l02242"></a>02242 <span class="keywordflow">break</span>;
<a name="l02243"></a>02243 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#a8a10a9c561cb5d704d17328857b4eb64" title="Object type identifier for TPolygon2D or TPolygon3D.">GEOMETRIC_TYPE_POLYGON</a>:
<a name="l02244"></a>02244 obj=<a class="code" href="classmrpt_1_1math_1_1_t_polygon2_d.html" title="2D polygon, inheriting from std::vector&lt;TPoint2D&gt;.">TPolygon2D</a>(*(data.polygon));
<a name="l02245"></a>02245 <span class="keywordflow">break</span>;
<a name="l02246"></a>02246 <span class="keywordflow">case</span> <a class="code" href="namespacemrpt_1_1math.html#af25b3e2c558bc58ce4f5251cc62ac2cd" title="Object type identifier for TPlane.">GEOMETRIC_TYPE_PLANE</a>:
<a name="l02247"></a>02247 <span class="keywordflow">throw</span> std::logic_error(<span class="stringliteral">"Too many dimensions"</span>);
<a name="l02248"></a>02248 <span class="keywordflow">default</span>:
<a name="l02249"></a>02249 obj=<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">TObject2D</a>();
<a name="l02250"></a>02250 <span class="keywordflow">break</span>;
<a name="l02251"></a>02251 }
<a name="l02252"></a>02252 }<span class="comment"></span>
<a name="l02253"></a>02253 <span class="comment"> /**</span>
<a name="l02254"></a>02254 <span class="comment"> * Constructs from another object.</span>
<a name="l02255"></a>02255 <span class="comment"> */</span>
<a name="l02256"></a><a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aeb8a6205bff0a8ae1dbd244d3b8143f2">02256</a> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html#aeb8a6205bff0a8ae1dbd244d3b8143f2" title="Constructs from another object.">TObject3D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">TObject3D</a> &obj):type(<a class="code" href="namespacemrpt_1_1math.html#a6fb47c39fe7b701f2ad23f02787ec63a" title="Object type identifier for empty TObject2D or TObject3D.">GEOMETRIC_TYPE_UNDEFINED</a>) {
<a name="l02257"></a>02257 operator=(obj);
<a name="l02258"></a>02258 }<span class="comment"></span>
<a name="l02259"></a>02259 <span class="comment"> /**</span>
<a name="l02260"></a>02260 <span class="comment"> * Static method to retrieve every point included in a vector of objects.</span>
<a name="l02261"></a>02261 <span class="comment"> */</span>
<a name="l02262"></a>02262 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPoint3D> &pnts);<span class="comment"></span>
<a name="l02263"></a>02263 <span class="comment"> /**</span>
<a name="l02264"></a>02264 <span class="comment"> * Static method to retrieve every segment included in a vector of objects.</span>
<a name="l02265"></a>02265 <span class="comment"> */</span>
<a name="l02266"></a>02266 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TSegment3D> &sgms);<span class="comment"></span>
<a name="l02267"></a>02267 <span class="comment"> /**</span>
<a name="l02268"></a>02268 <span class="comment"> * Static method to retrieve every line included in a vector of objects.</span>
<a name="l02269"></a>02269 <span class="comment"> */</span>
<a name="l02270"></a>02270 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TLine3D> &lins);<span class="comment"></span>
<a name="l02271"></a>02271 <span class="comment"> /**</span>
<a name="l02272"></a>02272 <span class="comment"> * Static method to retrieve every plane included in a vector of objects.</span>
<a name="l02273"></a>02273 <span class="comment"> */</span>
<a name="l02274"></a>02274 <span class="keyword">static</span> <span class="keywordtype">void</span> getPlanes(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPlane> &plns);<span class="comment"></span>
<a name="l02275"></a>02275 <span class="comment"> /**</span>
<a name="l02276"></a>02276 <span class="comment"> * Static method to retrieve every polygon included in a vector of objects.</span>
<a name="l02277"></a>02277 <span class="comment"> */</span>
<a name="l02278"></a>02278 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPolygon3D> &polys);<span class="comment"></span>
<a name="l02279"></a>02279 <span class="comment"> /**</span>
<a name="l02280"></a>02280 <span class="comment"> * Static method to retrieve every point included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l02281"></a>02281 <span class="comment"> */</span>
<a name="l02282"></a>02282 <span class="keyword">static</span> <span class="keywordtype">void</span> getPoints(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPoint3D> &pnts,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l02283"></a>02283 <span class="comment"> /**</span>
<a name="l02284"></a>02284 <span class="comment"> * Static method to retrieve every segment included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l02285"></a>02285 <span class="comment"> */</span>
<a name="l02286"></a>02286 <span class="keyword">static</span> <span class="keywordtype">void</span> getSegments(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TSegment3D> &sgms,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l02287"></a>02287 <span class="comment"> /**</span>
<a name="l02288"></a>02288 <span class="comment"> * Static method to retrieve every line included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l02289"></a>02289 <span class="comment"> */</span>
<a name="l02290"></a>02290 <span class="keyword">static</span> <span class="keywordtype">void</span> getLines(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TLine3D> &lins,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l02291"></a>02291 <span class="comment"> /**</span>
<a name="l02292"></a>02292 <span class="comment"> * Static method to retrieve every plane included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l02293"></a>02293 <span class="comment"> */</span>
<a name="l02294"></a>02294 <span class="keyword">static</span> <span class="keywordtype">void</span> getPlanes(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPlane> &plns,std::vector<TObject3D> &remainder);<span class="comment"></span>
<a name="l02295"></a>02295 <span class="comment"> /**</span>
<a name="l02296"></a>02296 <span class="comment"> * Static method to retrieve every polygon included in a vector of objects, returning the remaining objects in another argument.</span>
<a name="l02297"></a>02297 <span class="comment"> */</span>
<a name="l02298"></a>02298 <span class="keyword">static</span> <span class="keywordtype">void</span> getPolygons(<span class="keyword">const</span> std::vector<TObject3D> &objs,std::vector<TPolygon3D> &polys,std::vector<TObject3D> &remainder);
<a name="l02299"></a>02299 };
<a name="l02300"></a>02300
<a name="l02301"></a>02301 <span class="preprocessor">#endif</span>
<a name="l02302"></a>02302 <span class="preprocessor"></span> <span class="comment">//Streaming functions</span><span class="comment"></span>
<a name="l02303"></a>02303 <span class="comment"> /**</span>
<a name="l02304"></a>02304 <span class="comment"> * TPoint2D binary input.</span>
<a name="l02305"></a>02305 <span class="comment"> */</span>
<a name="l02306"></a>02306 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& in,<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &o);<span class="comment"></span>
<a name="l02307"></a>02307 <span class="comment"> /**</span>
<a name="l02308"></a>02308 <span class="comment"> * TPoint2D binary output.</span>
<a name="l02309"></a>02309 <span class="comment"> */</span>
<a name="l02310"></a>02310 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &o);
<a name="l02311"></a>02311 <span class="comment"></span>
<a name="l02312"></a>02312 <span class="comment"> /**</span>
<a name="l02313"></a>02313 <span class="comment"> * TPoint3D binary input.</span>
<a name="l02314"></a>02314 <span class="comment"> */</span>
<a name="l02315"></a>02315 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& in,<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);<span class="comment"></span>
<a name="l02316"></a>02316 <span class="comment"> /**</span>
<a name="l02317"></a>02317 <span class="comment"> * TPoint3D binary output.</span>
<a name="l02318"></a>02318 <span class="comment"> */</span>
<a name="l02319"></a>02319 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);
<a name="l02320"></a>02320 <span class="comment"></span>
<a name="l02321"></a>02321 <span class="comment"> /**</span>
<a name="l02322"></a>02322 <span class="comment"> * TPose2D binary input.</span>
<a name="l02323"></a>02323 <span class="comment"> */</span>
<a name="l02324"></a>02324 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& in,<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">mrpt::math::TPose2D</a> &o);<span class="comment"></span>
<a name="l02325"></a>02325 <span class="comment"> /**</span>
<a name="l02326"></a>02326 <span class="comment"> * TPose2D binary output.</span>
<a name="l02327"></a>02327 <span class="comment"> */</span>
<a name="l02328"></a>02328 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">mrpt::math::TPose2D</a> &o);
<a name="l02329"></a>02329 <span class="comment"></span>
<a name="l02330"></a>02330 <span class="comment"> /**</span>
<a name="l02331"></a>02331 <span class="comment"> * TPose3D binary input.</span>
<a name="l02332"></a>02332 <span class="comment"> */</span>
<a name="l02333"></a>02333 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& in,<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">mrpt::math::TPose3D</a> &o);<span class="comment"></span>
<a name="l02334"></a>02334 <span class="comment"> /**</span>
<a name="l02335"></a>02335 <span class="comment"> * TPose3D binary output.</span>
<a name="l02336"></a>02336 <span class="comment"> */</span>
<a name="l02337"></a>02337 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a>& out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">mrpt::math::TPose3D</a> &o);
<a name="l02338"></a>02338 <span class="comment"></span>
<a name="l02339"></a>02339 <span class="comment"> /**</span>
<a name="l02340"></a>02340 <span class="comment"> * TSegment2D binary input.</span>
<a name="l02341"></a>02341 <span class="comment"> */</span>
<a name="l02342"></a><a class="code" href="namespacemrpt_1_1math.html#a8d71c9fdf214a7b85d32eac48a0ac633">02342</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">mrpt::math::TSegment2D</a> &s) {
<a name="l02343"></a>02343 <span class="keywordflow">return</span> in>>s.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a>>>s.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>;
<a name="l02344"></a>02344 }<span class="comment"></span>
<a name="l02345"></a>02345 <span class="comment"> /**</span>
<a name="l02346"></a>02346 <span class="comment"> * TSegment2D binary output.</span>
<a name="l02347"></a>02347 <span class="comment"> */</span>
<a name="l02348"></a><a class="code" href="namespacemrpt_1_1math.html#a0c679646ca7bf18ad88f7d74bf8c4051">02348</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html" title="2D segment, consisting of two points.">mrpt::math::TSegment2D</a> &s) {
<a name="l02349"></a>02349 <span class="keywordflow">return</span> out<<s.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#ac147784340e36d84e8148b4e371f022b" title="Origin point.">point1</a><<s.<a class="code" href="structmrpt_1_1math_1_1_t_segment2_d.html#a312025aeea370854b76159d8526e1b91" title="Destiny point.">point2</a>;
<a name="l02350"></a>02350 }
<a name="l02351"></a>02351 <span class="comment"></span>
<a name="l02352"></a>02352 <span class="comment"> /**</span>
<a name="l02353"></a>02353 <span class="comment"> * TLine2D binary input.</span>
<a name="l02354"></a>02354 <span class="comment"> */</span>
<a name="l02355"></a><a class="code" href="namespacemrpt_1_1math.html#aefdce466c1d15aa5f9a15d780e16a0cd">02355</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">mrpt::math::TLine2D</a> &l) {
<a name="l02356"></a>02356 <span class="keywordflow">return</span> in>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[0]>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[1]>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[2];
<a name="l02357"></a>02357 }<span class="comment"></span>
<a name="l02358"></a>02358 <span class="comment"> /**</span>
<a name="l02359"></a>02359 <span class="comment"> * TLine2D binary output.</span>
<a name="l02360"></a>02360 <span class="comment"> */</span>
<a name="l02361"></a><a class="code" href="namespacemrpt_1_1math.html#afa318a04ca6d1d96394319b1d59f4a6a">02361</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html" title="2D line without bounds, represented by its equation .">mrpt::math::TLine2D</a> &l) {
<a name="l02362"></a>02362 <span class="keywordflow">return</span> out<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[0]<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[1]<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line2_d.html#ad0719679cd1e0826145e06a785937a00" title="Line coefficients, stored as an array: .">coefs</a>[2];
<a name="l02363"></a>02363 }
<a name="l02364"></a>02364 <span class="comment"></span>
<a name="l02365"></a>02365 <span class="comment"> /**</span>
<a name="l02366"></a>02366 <span class="comment"> * TObject2D binary input.</span>
<a name="l02367"></a>02367 <span class="comment"> */</span>
<a name="l02368"></a>02368 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">mrpt::math::TObject2D</a> &o);<span class="comment"></span>
<a name="l02369"></a>02369 <span class="comment"> /**</span>
<a name="l02370"></a>02370 <span class="comment"> * TObject2D binary input.</span>
<a name="l02371"></a>02371 <span class="comment"> */</span>
<a name="l02372"></a>02372 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object2_d.html" title="Standard type for storing any lightweight 2D type.">mrpt::math::TObject2D</a> &o);
<a name="l02373"></a>02373 <span class="comment"></span>
<a name="l02374"></a>02374 <span class="comment"> /**</span>
<a name="l02375"></a>02375 <span class="comment"> * TSegment3D binary input.</span>
<a name="l02376"></a>02376 <span class="comment"> */</span>
<a name="l02377"></a><a class="code" href="namespacemrpt_1_1math.html#a252014f7c27f09c8098b7a1285e2aba5">02377</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">mrpt::math::TSegment3D</a> &s) {
<a name="l02378"></a>02378 <span class="keywordflow">return</span> in>>s.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a>>>s.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>;
<a name="l02379"></a>02379 }<span class="comment"></span>
<a name="l02380"></a>02380 <span class="comment"> /**</span>
<a name="l02381"></a>02381 <span class="comment"> * TSegment3D binary output.</span>
<a name="l02382"></a>02382 <span class="comment"> */</span>
<a name="l02383"></a><a class="code" href="namespacemrpt_1_1math.html#a94641e5a5230bd42caaf02587af63240">02383</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html" title="3D segment, consisting of two points.">mrpt::math::TSegment3D</a> &s) {
<a name="l02384"></a>02384 <span class="keywordflow">return</span> out<<s.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a5518ed3918d09ea1e48436f7fe41959a" title="Origin point.">point1</a><<s.<a class="code" href="structmrpt_1_1math_1_1_t_segment3_d.html#a7e9d0f76a8d1148176a502641e235c79" title="Destiny point.">point2</a>;
<a name="l02385"></a>02385 }
<a name="l02386"></a>02386 <span class="comment"></span>
<a name="l02387"></a>02387 <span class="comment"> /**</span>
<a name="l02388"></a>02388 <span class="comment"> * TLine3D binary input.</span>
<a name="l02389"></a>02389 <span class="comment"> */</span>
<a name="l02390"></a><a class="code" href="namespacemrpt_1_1math.html#a904a984edb7f67f274b002e36dc0f685">02390</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">mrpt::math::TLine3D</a> &l) {
<a name="l02391"></a>02391 <span class="keywordflow">return</span> in>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#ad82681ef5a27b2bd32e29961f2bf3ec4" title="Base point.">pBase</a>>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[0]>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[1]>>l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[2];
<a name="l02392"></a>02392 }<span class="comment"></span>
<a name="l02393"></a>02393 <span class="comment"> /**</span>
<a name="l02394"></a>02394 <span class="comment"> * TLine3D binary output.</span>
<a name="l02395"></a>02395 <span class="comment"> */</span>
<a name="l02396"></a><a class="code" href="namespacemrpt_1_1math.html#a432e65f2a9cab4461b8fd8bba7bd596b">02396</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html" title="3D line, represented by a base point and a director vector.">mrpt::math::TLine3D</a> &l) {
<a name="l02397"></a>02397 <span class="keywordflow">return</span> out<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#ad82681ef5a27b2bd32e29961f2bf3ec4" title="Base point.">pBase</a><<l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[0]<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[1]<<l.<a class="code" href="structmrpt_1_1math_1_1_t_line3_d.html#a455f8295bb6777994e3aabeee8df43fe" title="Director vector.">director</a>[2];
<a name="l02398"></a>02398 }
<a name="l02399"></a>02399 <span class="comment"></span>
<a name="l02400"></a>02400 <span class="comment"> /**</span>
<a name="l02401"></a>02401 <span class="comment"> * TPlane binary input.</span>
<a name="l02402"></a>02402 <span class="comment"> */</span>
<a name="l02403"></a><a class="code" href="namespacemrpt_1_1math.html#aff141872fd7b9cca804e19cb72a4149f">02403</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">mrpt::math::TPlane</a> &p) {
<a name="l02404"></a>02404 <span class="keywordflow">return</span> in>>p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[0]>>p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[1]>>p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[2]>>p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[3];
<a name="l02405"></a>02405 }<span class="comment"></span>
<a name="l02406"></a>02406 <span class="comment"> /**</span>
<a name="l02407"></a>02407 <span class="comment"> * TPlane binary output.</span>
<a name="l02408"></a>02408 <span class="comment"> */</span>
<a name="l02409"></a><a class="code" href="namespacemrpt_1_1math.html#a8c6491eb156942e441020308912a82eb">02409</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_plane.html" title="3D Plane, represented by its equation ">mrpt::math::TPlane</a> &p) {
<a name="l02410"></a>02410 <span class="keywordflow">return</span> out<<p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[0]<<p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[1]<<p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[2]<<p.<a class="code" href="structmrpt_1_1math_1_1_t_plane.html#aa239e4cc73b5f6e72069feb9423c28a9" title="Plane coefficients, stored as an array: .">coefs</a>[3];
<a name="l02411"></a>02411 }
<a name="l02412"></a>02412 <span class="comment"></span>
<a name="l02413"></a>02413 <span class="comment"> /**</span>
<a name="l02414"></a>02414 <span class="comment"> * TObject3D binary input.</span>
<a name="l02415"></a>02415 <span class="comment"> */</span>
<a name="l02416"></a>02416 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#ae2ba309dec96d95778cb7d7fc54c0e9e" title="TPoint2D binary input.">operator>></a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &in,<a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">mrpt::math::TObject3D</a> &o);<span class="comment"></span>
<a name="l02417"></a>02417 <span class="comment"> /**</span>
<a name="l02418"></a>02418 <span class="comment"> * TObject3D binary output.</span>
<a name="l02419"></a>02419 <span class="comment"> */</span>
<a name="l02420"></a>02420 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &<a class="code" href="namespacemrpt_1_1math.html#acd6f25a905a07c7c500664dbf10d6673" title="Textual output stream function.">operator<<</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,....">mrpt::utils::CStream</a> &out,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_object3_d.html" title="Standard object for storing any 3D lightweight object.">mrpt::math::TObject3D</a> &o);
<a name="l02421"></a>02421
<a name="l02422"></a>02422 } <span class="comment">//end of namespace math</span>
<a name="l02423"></a>02423
<a name="l02424"></a>02424 <span class="keyword">namespace </span>utils
<a name="l02425"></a>02425 {
<a name="l02426"></a>02426 <span class="keyword">using namespace </span>::mrpt::math;
<a name="l02427"></a>02427
<a name="l02428"></a>02428 <span class="comment">// Specialization must occur in the same namespace</span>
<a name="l02429"></a>02429 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPoint2D)
<a name="l02430"></a>02430 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPoint3D)
<a name="l02431"></a>02431 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPose2D)
<a name="l02432"></a>02432 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPose3D)
<a name="l02433"></a>02433 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TSegment2D)
<a name="l02434"></a>02434 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TLine2D)
<a name="l02435"></a>02435 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPolygon2D)
<a name="l02436"></a>02436 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TObject2D)
<a name="l02437"></a>02437 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(<a class="code" href="namespacemrpt_1_1math.html#a6062a8844f75e4a2efd63d7027237b5a">TSegment3D</a>)
<a name="l02438"></a>02438 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(<a class="code" href="namespacemrpt_1_1math.html#ac4f838c4ff28e24b60032903f9a87339">TLine3D</a>)
<a name="l02439"></a>02439 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(TPlane)
<a name="l02440"></a>02440 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(<a class="code" href="namespacemrpt_1_1math.html#ac96724117d963fde72380a079deaea23">TPolygon3D</a>)
<a name="l02441"></a>02441 <a class="code" href="_c_serializable_8h.html#a3d50ead2a44af4340ef8e3a88b78df10">MRPT_DECLARE_TTYPENAME</a>(<a class="code" href="namespacemrpt_1_1math.html#a621fd9d87c2da1ad022a4192779adfef">TObject3D</a>)
<a name="l02442"></a>02442
<a name="l02443"></a>02443 } <span class="comment">// end of namespace utils</span>
<a name="l02444"></a>02444
<a name="l02445"></a>02445 } <span class="comment">//end of namespace</span>
<a name="l02446"></a>02446 <span class="preprocessor">#endif</span>
</pre></div></div>
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