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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html">CPoint</a> </li>
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<div class="title">mrpt::poses::CPoint Class Reference<div class="ingroups"><a class="el" href="group__poses__grp.html">2D/3D points and poses</a></div></div> </div>
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<!-- doxytag: class="mrpt::poses::CPoint" --><!-- doxytag: inherits="CPoseOrPoint< DERIVEDCLASS >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A base class for representing a point in 2D or 3D. </p>
<p>For more information refer to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> online. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This class is based on the CRTP design pattern </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses.">CPoseOrPoint</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose.html" title="A base class for representing a pose in 2D or 3D.">CPose</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_point_8h_source.html">mrpt/poses/CPoint.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPoint:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_point__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_point_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_point_inherit__map" id="mrpt_1_1poses_1_1_c_point_inherit__map">
<area shape="rect" id="node7" href="classmrpt_1_1poses_1_1_c_point.html" title="mrpt::poses::CPoint\< CPoint2D \>" alt="" coords="5,264,224,291"/><area shape="rect" id="node11" href="classmrpt_1_1poses_1_1_c_point.html" title="mrpt::poses::CPoint\< CPoint3D \>" alt="" coords="249,264,468,291"/><area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="mrpt::poses::CPoseOrPoint\< DERIVEDCLASS \>" alt="" coords="48,96,360,123"/><area shape="rect" id="node4" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses." alt="" coords="113,5,295,32"/><area shape="rect" id="node9" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point." alt="" coords="37,341,192,368"/><area shape="rect" id="node13" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point." alt="" coords="281,341,436,368"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_point-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Methods common to all 2D or 3D points</div></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OTHERCLASS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a3e4975121395a7c8f8efa6a2e536971e">AddComponents</a> (const OTHERCLASS &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scalar addition of all coordinates. <a href="#a3e4975121395a7c8f8efa6a2e536971e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#ad1c5229e7462c31eeb01e0ec7e002742">operator*=</a> (const double s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scalar multiplication. <a href="#ad1c5229e7462c31eeb01e0ec7e002742"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a1475f71cb06192af4a43d0f0ceb54a86">getAsVector</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &v) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. <a href="#a1475f71cb06192af4a43d0f0ceb54a86"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#aa056055a3cbfe41c6ba3c79370c561ca">getAsVector</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a9feaa4392d225ef30569d927ea912cd8">getHomogeneousMatrix</a> (<a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> &out_HM) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). <a href="#a9feaa4392d225ef30569d927ea912cd8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a62421d42705b4f7529f9140cf8f5e37f">asString</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &s) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) <a href="#a62421d42705b4f7529f9140cf8f5e37f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a73c90c209be9250b480aa9db19c6e37e">asString</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a6bd476309950f08614b53293b3ba909c">fromString</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" ) <a href="#a6bd476309950f08614b53293b3ba909c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a74cf5b85852318531e782ada372e2882">operator[]</a> (unsigned int i) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a02db452a96be2068ec89b09e4963f1e4">operator[]</a> (unsigned int i)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#af3506e31b659334e6992f5cd9ac657b7">x</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Common members of all points & poses classes. <a href="#af3506e31b659334e6992f5cd9ac657b7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#ad83a13c613e3a571d38ecf0c5bbaf14e">x</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#abd0edead14bf974e3573635db0649b8b">x</a> (const double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#afc45043b9e86558dac17091787cc8546">y</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a40f5b89235381d395cf6ed933e3456b4">y</a> (const double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a988b5d127feca6fcc17c5fc9c5617a32">x_incr</a> (const double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a2c96d47bfe4f9666bf5816a5d5f030ec">y_incr</a> (const double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a2b9df9477af343743486cc4811d82357">sqrDistanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html">CPoseOrPoint</a>< OTHERCLASS > &b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the squared euclidean distance to another pose/point: <a href="#a2b9df9477af343743486cc4811d82357"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#aafaf13c20929700f3cd1688374bb9999">distanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html">CPoseOrPoint</a>< OTHERCLASS > &b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the Euclidean distance to another pose/point: <a href="#aafaf13c20929700f3cd1688374bb9999"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a7dc4616a2d4ecef34d38ccb3da948d98">distanceTo</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the euclidean distance to a 3D point: <a href="#a7dc4616a2d4ecef34d38ccb3da948d98"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a4dd58b18bb7d5a7da1d38ee1a5feab5e">distance2DToSquare</a> (double ax, double ay) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). <a href="#a4dd58b18bb7d5a7da1d38ee1a5feab5e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#af9801e32904a1a4fe11fd2ab1a8eb8a4">distance3DToSquare</a> (double ax, double ay, double az) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the squared 3D distance from this pose/point to a 3D point. <a href="#af9801e32904a1a4fe11fd2ab1a8eb8a4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#abcd313017da1f9f0a2837ff89b9f0f8b">distance2DTo</a> (double ax, double ay) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). <a href="#abcd313017da1f9f0a2837ff89b9f0f8b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a509a80a9a64db02142688f648e5f5f67">distance3DTo</a> (double ax, double ay, double az) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the 3D distance from this pose/point to a 3D point. <a href="#a509a80a9a64db02142688f648e5f5f67"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a24ea0fd503c68ce305247573583f5284">norm</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the euclidean norm of vector: <img class="formulaInl" alt="$ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $" src="form_70.png"/>. <a href="#a24ea0fd503c68ce305247573583f5284"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#af6cebd2b9558f7e6624ef2e8965c4d20">getAsVectorVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) <a href="#af6cebd2b9558f7e6624ef2e8965c4d20"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#af4008d5353e9349be18baeb82d4701e3">getHomogeneousMatrixVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). <a href="#af4008d5353e9349be18baeb82d4701e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a573fbc8166aa8c2ee04ff229a178fb10">getInverseHomogeneousMatrix</a> (<a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">math::CMatrixDouble44</a> &out_HM) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. <a href="#a573fbc8166aa8c2ee04ff229a178fb10"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">mrpt::math::CMatrixDouble44</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#add70f40f0ead699d706779c07123cd90">getInverseHomogeneousMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a4d63d1364f37b48c83d36f4f2e5fb20a">is3DPoseOrPoint</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true for poses or points with a Z component, false otherwise. <a href="#a4d63d1364f37b48c83d36f4f2e5fb20a"></a><br/></td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a3e4975121395a7c8f8efa6a2e536971e"></a><!-- doxytag: member="mrpt::poses::CPoint::AddComponents" ref="a3e4975121395a7c8f8efa6a2e536971e" args="(const OTHERCLASS &b)" -->
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template<class OTHERCLASS > </div>
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<td class="memname">void mrpt::poses::CPoint::AddComponents </td>
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<td><code> [inline]</code></td>
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<p>Scalar addition of all coordinates. </p>
<p>This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose" </p>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00054">54</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a62421d42705b4f7529f9140cf8f5e37f"></a><!-- doxytag: member="mrpt::poses::CPoint::asString" ref="a62421d42705b4f7529f9140cf8f5e37f" args="(std::string &s) const " -->
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<td class="memname">void mrpt::poses::CPoint::asString </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>s</em></td><td>)</td>
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<p>Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a6bd476309950f08614b53293b3ba909c" title="Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )...">fromString</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00093">93</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a73c90c209be9250b480aa9db19c6e37e"></a><!-- doxytag: member="mrpt::poses::CPoint::asString" ref="a73c90c209be9250b480aa9db19c6e37e" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::poses::CPoint::asString </td>
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<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00099">99</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
<p>Referenced by <a class="el" href="_c_point_8h_source.html#l00099">mrpt::poses::CPoint< CPoint3D >::asString()</a>.</p>
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<a class="anchor" id="abcd313017da1f9f0a2837ff89b9f0f8b"></a><!-- doxytag: member="mrpt::poses::CPoint::distance2DTo" ref="abcd313017da1f9f0a2837ff89b9f0f8b" args="(double ax, double ay) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::distance2DTo </td>
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<p>Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00184">184</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00176">mrpt::poses::CPoseOrPoint::distance2DToSquare()</a>.</p>
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<a class="anchor" id="a4dd58b18bb7d5a7da1d38ee1a5feab5e"></a><!-- doxytag: member="mrpt::poses::CPoint::distance2DToSquare" ref="a4dd58b18bb7d5a7da1d38ee1a5feab5e" args="(double ax, double ay) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::distance2DToSquare </td>
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<p>Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00176">176</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00135">mrpt::poses::CPoseOrPoint::x()</a>, and <a class="el" href="_c_pose_or_point_8h_source.html#l00136">mrpt::poses::CPoseOrPoint::y()</a>.</p>
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<a class="anchor" id="a509a80a9a64db02142688f648e5f5f67"></a><!-- doxytag: member="mrpt::poses::CPoint::distance3DTo" ref="a509a80a9a64db02142688f648e5f5f67" args="(double ax, double ay, double az) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::distance3DTo </td>
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<p>Returns the 3D distance from this pose/point to a 3D point. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00187">187</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00179">mrpt::poses::CPoseOrPoint::distance3DToSquare()</a>.</p>
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<a class="anchor" id="af9801e32904a1a4fe11fd2ab1a8eb8a4"></a><!-- doxytag: member="mrpt::poses::CPoint::distance3DToSquare" ref="af9801e32904a1a4fe11fd2ab1a8eb8a4" args="(double ax, double ay, double az) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::distance3DToSquare </td>
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<p>Returns the squared 3D distance from this pose/point to a 3D point. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00179">179</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00135">mrpt::poses::CPoseOrPoint::x()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00136">mrpt::poses::CPoseOrPoint::y()</a>, and <a class="el" href="_c_pose_or_point_8h_source.html#l00149">mrpt::poses::CPoseOrPoint::is3DPoseOrPoint()</a>.</p>
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<a class="anchor" id="aafaf13c20929700f3cd1688374bb9999"></a><!-- doxytag: member="mrpt::poses::CPoint::distanceTo" ref="aafaf13c20929700f3cd1688374bb9999" args="(const CPoseOrPoint< OTHERCLASS > &b) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::distanceTo </td>
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<p>Returns the Euclidean distance to another pose/point: </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00170">170</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00152">mrpt::poses::CPoseOrPoint::sqrDistanceTo()</a>.</p>
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<a class="anchor" id="a7dc4616a2d4ecef34d38ccb3da948d98"></a><!-- doxytag: member="mrpt::poses::CPoint::distanceTo" ref="a7dc4616a2d4ecef34d38ccb3da948d98" args="(const mrpt::math::TPoint3D &b) const " -->
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<p>Returns the euclidean distance to a 3D point: </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00190">190</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00187">mrpt::poses::CPoseOrPoint::distance3DTo()</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00293">mrpt::math::TPoint3D::x</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00294">mrpt::math::TPoint3D::y</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l00295">mrpt::math::TPoint3D::z</a>.</p>
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<a class="anchor" id="a6bd476309950f08614b53293b3ba909c"></a><!-- doxytag: member="mrpt::poses::CPoint::fromString" ref="a6bd476309950f08614b53293b3ba909c" args="(const std::string &s)" -->
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<td class="memname">void mrpt::poses::CPoint::fromString </td>
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<p>Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" ) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point.html#a62421d42705b4f7529f9140cf8f5e37f" title="Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )">asString</a> </dd></dl>
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<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00105">105</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a1475f71cb06192af4a43d0f0ceb54a86"></a><!-- doxytag: member="mrpt::poses::CPoint::getAsVector" ref="a1475f71cb06192af4a43d0f0ceb54a86" args="(vector_double &v) const " -->
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<td class="memname">void mrpt::poses::CPoint::getAsVector </td>
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<p>Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z]. </p>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00069">69</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> mrpt::poses::CPoint::getAsVector </td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00076">76</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
<p>Referenced by <a class="el" href="_c_point_8h_source.html#l00076">mrpt::poses::CPoint< CPoint3D >::getAsVector()</a>.</p>
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<a class="anchor" id="af6cebd2b9558f7e6624ef2e8965c4d20"></a><!-- doxytag: member="mrpt::poses::CPoint::getAsVectorVal" ref="af6cebd2b9558f7e6624ef2e8965c4d20" args="() const " -->
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<td class="memname"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> mrpt::poses::CPoseOrPoint::getAsVectorVal </td>
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<p>Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00199">199</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="a9feaa4392d225ef30569d927ea912cd8"></a><!-- doxytag: member="mrpt::poses::CPoint::getHomogeneousMatrix" ref="a9feaa4392d225ef30569d927ea912cd8" args="(CMatrixDouble44 &out_HM) const " -->
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<td class="memname">void mrpt::poses::CPoint::getHomogeneousMatrix </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> & </td>
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<p>Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a573fbc8166aa8c2ee04ff229a178fb10" title="Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose...">getInverseHomogeneousMatrix</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00081">81</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="af4008d5353e9349be18baeb82d4701e3"></a><!-- doxytag: member="mrpt::poses::CPoint::getHomogeneousMatrixVal" ref="af4008d5353e9349be18baeb82d4701e3" args="() const " -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> mrpt::poses::CPoseOrPoint::getHomogeneousMatrixVal </td>
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<p>Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getInverseHomogeneousMatrix </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00209">209</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="math__frwds_8h_source.html#l00102">mrpt::math::UNINITIALIZED_MATRIX</a>.</p>
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<a class="anchor" id="a573fbc8166aa8c2ee04ff229a178fb10"></a><!-- doxytag: member="mrpt::poses::CPoint::getInverseHomogeneousMatrix" ref="a573fbc8166aa8c2ee04ff229a178fb10" args="(math::CMatrixDouble44 &out_HM) const " -->
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<p>Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getHomogeneousMatrix </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00219">219</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00604">mrpt::math::homogeneousMatrixInverse()</a>.</p>
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<a class="anchor" id="add70f40f0ead699d706779c07123cd90"></a><!-- doxytag: member="mrpt::poses::CPoint::getInverseHomogeneousMatrix" ref="add70f40f0ead699d706779c07123cd90" args="() const " -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">mrpt::math::CMatrixDouble44</a> mrpt::poses::CPoseOrPoint::getInverseHomogeneousMatrix </td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00226">226</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="math__frwds_8h_source.html#l00102">mrpt::math::UNINITIALIZED_MATRIX</a>, and <a class="el" href="_c_pose_or_point_8h_source.html#l00226">mrpt::poses::CPoseOrPoint::getInverseHomogeneousMatrix()</a>.</p>
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<a class="anchor" id="a4d63d1364f37b48c83d36f4f2e5fb20a"></a><!-- doxytag: member="mrpt::poses::CPoint::is3DPoseOrPoint" ref="a4d63d1364f37b48c83d36f4f2e5fb20a" args="()" -->
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<p>Return true for poses or points with a Z component, false otherwise. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00149">149</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>Referenced by <a class="el" href="_c_point_8h_source.html#l00093">mrpt::poses::CPoint< CPoint3D >::asString()</a>.</p>
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<a class="anchor" id="a24ea0fd503c68ce305247573583f5284"></a><!-- doxytag: member="mrpt::poses::CPoint::norm" ref="a24ea0fd503c68ce305247573583f5284" args="() const " -->
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<p>Returns the euclidean norm of vector: <img class="formulaInl" alt="$ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $" src="form_70.png"/>. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00193">193</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00135">mrpt::poses::CPoseOrPoint::x()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00136">mrpt::poses::CPoseOrPoint::y()</a>, and <a class="el" href="_c_pose_or_point_8h_source.html#l00149">mrpt::poses::CPoseOrPoint::is3DPoseOrPoint()</a>.</p>
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<a class="anchor" id="ad1c5229e7462c31eeb01e0ec7e002742"></a><!-- doxytag: member="mrpt::poses::CPoint::operator*=" ref="ad1c5229e7462c31eeb01e0ec7e002742" args="(const double s)" -->
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<td class="memname">void mrpt::poses::CPoint::operator*= </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Scalar multiplication. </p>
<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00062">62</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a74cf5b85852318531e782ada372e2882"></a><!-- doxytag: member="mrpt::poses::CPoint::operator[]" ref="a74cf5b85852318531e782ada372e2882" args="(unsigned int i) const " -->
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<td class="memname">const double& mrpt::poses::CPoint::operator[] </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00115">115</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a02db452a96be2068ec89b09e4963f1e4"></a><!-- doxytag: member="mrpt::poses::CPoint::operator[]" ref="a02db452a96be2068ec89b09e4963f1e4" args="(unsigned int i)" -->
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<td class="memname">double& mrpt::poses::CPoint::operator[] </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_point_8h_source.html#l00116">116</a> of file <a class="el" href="_c_point_8h_source.html">CPoint.h</a>.</p>
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<a class="anchor" id="a2b9df9477af343743486cc4811d82357"></a><!-- doxytag: member="mrpt::poses::CPoint::sqrDistanceTo" ref="a2b9df9477af343743486cc4811d82357" args="(const CPoseOrPoint< OTHERCLASS > &b) const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::sqrDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html">CPoseOrPoint</a>< OTHERCLASS > & </td>
<td class="paramname"><em>b</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the squared euclidean distance to another pose/point: </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00152">152</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00149">mrpt::poses::CPoseOrPoint::is3DPoseOrPoint()</a>, <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>, <a class="el" href="_c_pose_or_point_8h_source.html#l00135">mrpt::poses::CPoseOrPoint::x()</a>, and <a class="el" href="_c_pose_or_point_8h_source.html#l00136">mrpt::poses::CPoseOrPoint::y()</a>.</p>
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<a class="anchor" id="af3506e31b659334e6992f5cd9ac657b7"></a><!-- doxytag: member="mrpt::poses::CPoint::x" ref="af3506e31b659334e6992f5cd9ac657b7" args="() const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::x </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Common members of all points & poses classes. </p>
<p>< Get X coord. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00135">135</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>Referenced by <a class="el" href="_c_point_8h_source.html#l00081">mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix()</a>.</p>
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<a class="anchor" id="ad83a13c613e3a571d38ecf0c5bbaf14e"></a><!-- doxytag: member="mrpt::poses::CPoint::x" ref="ad83a13c613e3a571d38ecf0c5bbaf14e" args="()" -->
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<td class="memname">double& mrpt::poses::CPoseOrPoint::x </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00138">138</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="abd0edead14bf974e3573635db0649b8b"></a><!-- doxytag: member="mrpt::poses::CPoint::x" ref="abd0edead14bf974e3573635db0649b8b" args="(const double v)" -->
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<td class="memname">void mrpt::poses::CPoseOrPoint::x </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">v</td><td>Set X coord. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00141">141</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="a988b5d127feca6fcc17c5fc9c5617a32"></a><!-- doxytag: member="mrpt::poses::CPoint::x_incr" ref="a988b5d127feca6fcc17c5fc9c5617a32" args="(const double v)" -->
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<td class="memname">void mrpt::poses::CPoseOrPoint::x_incr </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">v</td><td>X+=v </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00144">144</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="a912d9a0a05f236fdb947b6627e7349ba"></a><!-- doxytag: member="mrpt::poses::CPoint::y" ref="a912d9a0a05f236fdb947b6627e7349ba" args="() const " -->
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<td class="memname">double mrpt::poses::CPoseOrPoint::y </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>< Get Y coord. </p>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00136">136</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
<p>Referenced by <a class="el" href="_c_point_8h_source.html#l00081">mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix()</a>, and <a class="el" href="_c_point_8h_source.html#l00093">mrpt::poses::CPoint< CPoint3D >::asString()</a>.</p>
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<a class="anchor" id="afc45043b9e86558dac17091787cc8546"></a><!-- doxytag: member="mrpt::poses::CPoint::y" ref="afc45043b9e86558dac17091787cc8546" args="()" -->
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<td class="memname">double& mrpt::poses::CPoseOrPoint::y </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00139">139</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="a40f5b89235381d395cf6ed933e3456b4"></a><!-- doxytag: member="mrpt::poses::CPoint::y" ref="a40f5b89235381d395cf6ed933e3456b4" args="(const double v)" -->
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<td class="memname">void mrpt::poses::CPoseOrPoint::y </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">v</td><td>Set Y coord. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00142">142</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<a class="anchor" id="a2c96d47bfe4f9666bf5816a5d5f030ec"></a><!-- doxytag: member="mrpt::poses::CPoint::y_incr" ref="a2c96d47bfe4f9666bf5816a5d5f030ec" args="(const double v)" -->
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<td class="memname">void mrpt::poses::CPoseOrPoint::y_incr </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">v</td><td>Y+=v </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose_or_point_8h_source.html#l00145">145</a> of file <a class="el" href="_c_pose_or_point_8h_source.html">CPoseOrPoint.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
