#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 | 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. | |
const math::CMatrixDouble & | getHomogeneousMatrix () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation). | |
void | getHomogeneousMatrix (const math::CMatrixDouble *&ptrHM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation). | |
Protected Attributes | |
math::CMatrixDouble | aux_HM |
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.
void mrpt::poses::CPoint3D::getHomogeneousMatrix | ( | const math::CMatrixDouble *& | ptrHM | ) | const [virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
const math::CMatrixDouble& mrpt::poses::CPoint3D::getHomogeneousMatrix | ( | ) | const [virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
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
math::CMatrixDouble mrpt::poses::CPoint3D::aux_HM [mutable, protected] |
Definition at line 154 of file CPoint3D.h.
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