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<div class="title">CPoint3D.h</div> </div>
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<a href="_c_point3_d_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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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 CPOINT3D_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPOINT3D_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_point_8h.html">mrpt/poses/CPoint.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>poses
<a name="l00037"></a>00037 {
<a name="l00038"></a><a class="code" href="structmrpt_1_1poses_1_1_c_point3_d_ptr.html#a96b043f5d1fd695b9b49bec2299a4661">00038</a> <a class="code" href="_c_serializable_8h.html#a5155da97198db5986e6369e2fe7a3539" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> )
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/** A class used to store a 3D point.</span>
<a name="l00041"></a>00041 <span class="comment"> *</span>
<a name="l00042"></a>00042 <span class="comment"> * For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer</span>
<a name="l00043"></a>00043 <span class="comment"> * to the <a href="http://www.mrpt.org/2D_3D_Geometry" >2D/3D Geometry tutorial</a> in the wiki.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * <div align=center></span>
<a name="l00046"></a>00046 <span class="comment"> * <img src="CPoint3D.gif"></span>
<a name="l00047"></a>00047 <span class="comment"> * </div></span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * \ingroup poses_grp</span>
<a name="l00050"></a>00050 <span class="comment"> * \sa CPoseOrPoint,CPose, CPoint</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> : public <a class="code" href="classmrpt_1_1poses_1_1_c_point.html" title="A base class for representing a point in 2D or 3D.">CPoint</a><<a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a>>, public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a924d13ad624d3b2c6d1e4583f68c89ce">00055</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( CPoint3D )
<a name="l00056"></a>00056
<a name="l00057"></a>00057 public:
<a name="l00058"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#afd95bf493d6bfce5e88b7df0a014232e">00058</a> mrpt::math::<a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">CArrayDouble</a><3> m_coords; <span class="comment">//!< [x,y,z]</span>
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 public:<span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Constructor for initializing point coordinates. */</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a74f912b887fea30cfa50aafd1bbaf952">00062</a> inline CPoint3D(const <span class="keywordtype">double</span> x=0,const <span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>=0,const <span class="keywordtype">double</span> z=0) { m_coords[0]= x; m_coords[1]=<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>; m_coords[2]=z; }
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Constructor from a XYZ 3-vector */</span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a52dd37d0a816bc0cee3407a5578f5743">00065</a> <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a52dd37d0a816bc0cee3407a5578f5743" title="Constructor from a XYZ 3-vector.">CPoint3D</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html">mrpt::math::CArrayDouble<3></a> &xyz) : m_coords(xyz) { }
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Constructor from an CPoint2D object. */</span>
<a name="l00068"></a>00068 CPoint3D( <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.">CPoint2D</a> &p);
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Constructor from an CPose3D object. */</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a202e68faaf61477cafd4719f70d57795">00071</a> <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a202e68faaf61477cafd4719f70d57795" title="Constructor from an CPose3D object.">CPoint3D</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 (a 3D translation + a rotation in 3D).">CPose3D</a> &p) { m_coords[0]=p.x(); m_coords[1]=p.y(); m_coords[2]=p.z(); }
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Constructor from an CPose2D object. */</span>
<a name="l00074"></a>00074 <span class="keyword">explicit</span> CPoint3D( <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.">CPose2D</a> &p);
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Constructor from lightweight object. */</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a7d4dce9d4b3b72193086e554839b9366">00077</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a7d4dce9d4b3b72193086e554839b9366" title="Constructor from lightweight object.">CPoint3D</a>(<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> &p) { m_coords[0]=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>; m_coords[1]=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>; m_coords[2]=p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>; }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Returns this point as seen from "b", i.e. result = this - b */</span>
<a name="l00080"></a>00080 CPoint3D <a class="code" href="namespacemrpt_1_1poses.html#a678c1606b35876eae036755599a22d84" title="Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...">operator - </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 (a 3D translation + a rotation in 3D).">CPose3D</a>& b) <span class="keyword">const</span>;
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Returns this point minus point "b", i.e. result = this - b */</span>
<a name="l00083"></a>00083 CPoint3D <a class="code" href="namespacemrpt_1_1poses.html#a678c1606b35876eae036755599a22d84" title="Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...">operator - </a>(<span class="keyword">const</span> CPoint3D& b) <span class="keyword">const</span>;
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Returns this point plus point "b", i.e. result = this + b */</span>
<a name="l00086"></a>00086 CPoint3D <a class="code" href="namespacemrpt_1_1poses.html#afb287beee02202a14b09f1011b648e6f" title="Compose a 2D point from a new coordinate base given by a 2D pose.">operator + </a>(<span class="keyword">const</span> CPoint3D& b) <span class="keyword">const</span>;
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Returns this point plus pose "b", i.e. result = this + b */</span>
<a name="l00089"></a>00089 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="namespacemrpt_1_1poses.html#afb287beee02202a14b09f1011b648e6f" title="Compose a 2D point from a new coordinate base given by a 2D pose.">operator + </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 (a 3D translation + a rotation in 3D).">CPose3D</a>& b) <span class="keyword">const</span>;
<a name="l00090"></a>00090
<a name="l00091"></a>00091
<a name="l00092"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a9a4e4904f902f65a41820475bf4a9e81ac7e688449a88c427d811c54eb64bf721">00092</a> <span class="keyword">enum</span> { is_3D_val = 1 };
<a name="l00093"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a6d999a5bf581ded4c55c058c3da81e97">00093</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a6d999a5bf581ded4c55c058c3da81e97">is_3D</a>() { <span class="keywordflow">return</span> is_3D_val!=0; }
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#aca61685f9a7301937a371adf61d84b99af6e0e9d88059394a7d1d87604cc7aa56">00095</a> <span class="keyword">enum</span> { is_PDF_val = 0 };
<a name="l00096"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a0ffe56c9723b08605b864b727034be3a">00096</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a0ffe56c9723b08605b864b727034be3a">is_PDF</a>() { <span class="keywordflow">return</span> is_PDF_val!=0; }
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** @name STL-like methods and typedefs</span>
<a name="l00099"></a>00099 <span class="comment"> @{ */</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#af47db84bb8ed41c23a017bf0a202577e">00100</a> <span class="keyword">typedef</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#af47db84bb8ed41c23a017bf0a202577e" title="The type of the elements.">value_type</a>; <span class="comment">//!< The type of the elements</span>
<a name="l00101"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#aec533e755a0c604af561c98f9dd18c05">00101</a> <span class="comment"></span> <span class="keyword">typedef</span> <span class="keywordtype">double</span>& <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#aec533e755a0c604af561c98f9dd18c05">reference</a>;
<a name="l00102"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a936469f389ce5efc1e5b95f451ffcdb1">00102</a> <span class="keyword">typedef</span> <span class="keyword">const</span> <span class="keywordtype">double</span>& <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a936469f389ce5efc1e5b95f451ffcdb1">const_reference</a>;
<a name="l00103"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a060b60330ce934e4c2012b68246128e2">00103</a> <span class="keyword">typedef</span> std::size_t <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a060b60330ce934e4c2012b68246128e2">size_type</a>;
<a name="l00104"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a4aab6a4cf634b29c7197858063d43ffd">00104</a> <span class="keyword">typedef</span> std::ptrdiff_t <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a4aab6a4cf634b29c7197858063d43ffd">difference_type</a>;
<a name="l00105"></a>00105
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// size is constant</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a838780ff61d017175aaf9d7fb9a2414aaaa986c214cd9fc52d6f28162bc9fd217">00108</a> <span class="keyword">enum</span> { <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a> = 3 };
<a name="l00109"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#af1bcb17e83f7025e1ad9c69933c4e4ac">00109</a> <span class="keyword">static</span> <span class="keyword">inline</span> size_type <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#af1bcb17e83f7025e1ad9c69933c4e4ac">size</a>() { <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>; }
<a name="l00110"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a46918aff8fda9d1106fafe8370637531">00110</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a46918aff8fda9d1106fafe8370637531">empty</a>() { <span class="keywordflow">return</span> <span class="keyword">false</span>; }
<a name="l00111"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#aa20d3d4e858861a350460e9d4e0c78bd">00111</a> <span class="keyword">static</span> <span class="keyword">inline</span> size_type <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#aa20d3d4e858861a350460e9d4e0c78bd">max_size</a>() { <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>; }
<a name="l00112"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a6b59ade2b49aeb90e3b332d829f4750b">00112</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html#a6b59ade2b49aeb90e3b332d829f4750b">resize</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> n) { <span class="keywordflow">if</span> (n!=<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>) <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a>(<a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"Try to change the size of CPoint3D to %u."</span>,static_cast<unsigned>(n))); }<span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** @} */</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 }; <span class="comment">// End of class def.</span>
<a name="l00116"></a>00116
<a name="l00117"></a>00117
<a name="l00118"></a>00118 } <span class="comment">// End of namespace</span>
<a name="l00119"></a>00119 } <span class="comment">// End of namespace</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="preprocessor">#endif</span>
</pre></div></div>
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