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mrpt::poses::CPoint2D Class Reference

A class used to store a 2D point. More...

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:

mrpt::poses::CPoint mrpt::poses::CPoseOrPoint mrpt::utils::CSerializable

List of all members.

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 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).
const math::CMatrixDoublegetHomogeneousMatrix () 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


Detailed Description

A class used to store a 2D point.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

poses::CPoint2D

Homogeneous transfomation matrix

Spatial representation

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CPoint2D.gif

See also:
CPoseOrPoint,CPose, CPoint

Definition at line 150 of file CPoint2D.h.


Constructor & Destructor Documentation

mrpt::poses::CPoint2D::CPoint2D ( double  x = 0,
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.


Member Function Documentation

void mrpt::poses::CPoint2D::getHomogeneousMatrix ( const math::CMatrixDouble *&  ptrHM  )  const [virtual]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).

See also:
getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

const math::CMatrixDouble& mrpt::poses::CPoint2D::getHomogeneousMatrix (  )  const [virtual]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).

See also:
getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

CPoint2D mrpt::poses::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).


Member Data Documentation

Definition at line 156 of file CPoint2D.h.




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