#include <mrpt/poses/CPoint2D.h>
Public Member Functions | |
CPoint2D (double x=0, double y=0) | |
Constructor for initializing point coordinates. | |
CPoint2D (const CPose2D &o) | |
Constructor from x/y coordinates given from other pose. | |
CPoint2D (const CPose3D &o) | |
Constructor from x/y coordinates given from other pose. | |
CPoint2D (const CPoint3D &o) | |
Constructor from x/y coordinates given from a 3D point. | |
CPoint2D (const mrpt::math::TPoint2D &o) | |
Implicit constructor from lightweight type. | |
CPoint2D | operator- (const CPose2D &b) const |
The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a). | |
void | getAsVector (vector_double &v) const |
Return the pose or point as a 1x2 vector: [x y]. | |
void | getHomogeneousMatrix (CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). |
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 151 of file CPoint2D.h.
mrpt::poses::CPoint2D::CPoint2D | ( | double | x = 0 , |
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double | y = 0 | |||
) |
Constructor for initializing point coordinates.
mrpt::poses::CPoint2D::CPoint2D | ( | const CPose2D & | o | ) | [explicit] |
Constructor from x/y coordinates given from other pose.
mrpt::poses::CPoint2D::CPoint2D | ( | const CPose3D & | o | ) | [explicit] |
Constructor from x/y coordinates given from other pose.
mrpt::poses::CPoint2D::CPoint2D | ( | const CPoint3D & | o | ) | [explicit] |
Constructor from x/y coordinates given from a 3D point.
mrpt::poses::CPoint2D::CPoint2D | ( | const mrpt::math::TPoint2D & | o | ) |
Implicit constructor from lightweight type.
void mrpt::poses::CPoint2D::getAsVector | ( | vector_double & | v | ) | const [virtual] |
void mrpt::poses::CPoint2D::getHomogeneousMatrix | ( | CMatrixDouble44 & | out_HM | ) | const [inline, virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
Definition at line 188 of file CPoint2D.h.
References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::get_unsafe(), and mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::unit().
The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).
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