#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 | 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::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 150 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.
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).
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).
Implements mrpt::poses::CPoseOrPoint.
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).
math::CMatrixDouble mrpt::poses::CPoint2D::aux_HM [mutable, protected] |
Definition at line 156 of file CPoint2D.h.
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