#include <mrpt/poses/CPoint3D.h>
Public Member Functions | |
CPoint3D (const double x=0, const double y=0, const double z=0) | |
Constructor for initializing point coordinates. | |
CPoint3D (const CPoint2D &) | |
Constructor from an CPoint2D object. | |
CPoint3D (const CPose3D &) | |
Constructor from an CPose3D object. | |
CPoint3D (const CPose2D &) | |
Constructor from an CPose2D object. | |
CPoint3D (const mrpt::math::TPoint3D &) | |
Constructor from lightweight object. | |
CPoint3D | operator- (const CPose3D &b) const |
Returns this point as seen from "b", i.e. | |
CPoint3D | operator- (const CPoint3D &b) const |
Returns this point minus point "b", i.e. | |
CPoint3D | operator+ (const CPoint3D &b) const |
Returns this point plus point "b", i.e. | |
CPose3D | operator+ (const CPose3D &b) const |
Returns this point plus pose "b", i.e. | |
void | getAsVector (vector_double &v) const |
Return the pose or point as a 1x3 vector: [x y z]. | |
void | getHomogeneousMatrix (CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). |
For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.
Homogeneous transfomation matrix | Spatial representation | ||||||||||||||||
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Definition at line 149 of file CPoint3D.h.
mrpt::poses::CPoint3D::CPoint3D | ( | const double | x = 0 , |
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const double | y = 0 , |
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const double | z = 0 | |||
) |
Constructor for initializing point coordinates.
mrpt::poses::CPoint3D::CPoint3D | ( | const mrpt::math::TPoint3D & | ) |
Constructor from lightweight object.
void mrpt::poses::CPoint3D::getAsVector | ( | vector_double & | v | ) | const [virtual] |
void mrpt::poses::CPoint3D::getHomogeneousMatrix | ( | CMatrixDouble44 & | out_HM | ) | const [inline, virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
Definition at line 197 of file CPoint3D.h.
References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::get_unsafe(), and mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::unit().
Returns this point plus pose "b", i.e.
result = this + b
Returns this point plus point "b", i.e.
result = this + b
Returns this point minus point "b", i.e.
result = this - b
Returns this point as seen from "b", i.e.
result = this - b
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