nrt::PointSSE< T > Class Template Reference

#include <nrt/PointCloud2/PointCloud2PointSSE.H>

template<class T>
class nrt::PointSSE< T >

An SSE capable point class for representing geometry.

This point contains four values, representing XYZ geometry and a fourth buffer coordinate to support SSE alignment, which can be considered to make the point homogenous. Note that there is no special care taken to ensure that this fourth coordinate remains valid, and in general will not be used aside from providing a buffer for alignment.

This point is defined with alignment requirements such that it can be easily optimized using SSE techniques.

Template Parameters

T	The underlying type to represent

Definition at line 59 of file PointCloud2PointSSE.H.

Inheritance diagram for nrt::PointSSE< T >:

Public Types
typedef Eigen::Matrix< T, 3, 1 >	Vector3
typedef Eigen::Matrix< T, 4, 1 >	Vector4

Public Member Functions
	PointSSE ()
	Construct a zero valued point with w set to 0.
	PointSSE (T value, T w=0)
	Constructs a point with all values set to value, optionally setting w.
	PointSSE (T x, T y, T z, T w=0)
	Construct a point by specifying the dimensions.
	PointSSE (std::array< T, 3 > const &init)
	Construct a point from an std::array (setting w to 1)
	PointSSE (std::array< T, 4 > const &init)
	Construct a point from an std::array.
	PointSSE (Point< T, 4 > const &other)
	Copy constructor.
	PointSSE (Point< T, 3 > const &other)
	Copy constructor, sets W to 0.
template<class U >
	PointSSE (Point< U, 4 > const &other)
	Conversion copy constructor.
template<class U >
	PointSSE (Point< U, 3 > const &other)
	Conversion copy constructor, sets W to 0.
T &	x ()
	Access the first element.
T const &	x () const
	Access the first element.
T &	y ()
	Access the second element.
T const &	y () const
	Access the second element.
T &	z ()
	Access the third element.
T const &	z () const
	Access the third element.
T &	w ()
	Access the fourth element.
T const &	w () const
	Access the fourth element.
bool	isValid () const
	Checks whether this point is composed of only finite values.
Eigen::Map< Vector4, Eigen::Aligned >	getVectorMap ()
	Return an eigen vector mapped to the internal contents of this point.
Eigen::Map< const Vector4, Eigen::Aligned >	getVectorMap () const
	Return a const eigen vector mapped to the internal contents of this point.
Eigen::Map< Vector3, Eigen::Aligned >	getVector3Map ()
	Return an eigen vector mapped to the internal contents of this point, ignoring the fourth component.
Eigen::Map< const Vector3, Eigen::Aligned >	getVector3Map () const
	Return a const eigen vector mapped to the internal contents of this point, ignoring the fourth component.
Public Member Functions inherited from nrt::Point< T, 4 >
	Point ()
	Construct an uninitialized point.
	Point (S...args)
	Construct a Point by specifying the value of each Dimension. More...
	Point (std::array< T, Dimensions > const &init)
	Construct a point from an std::array.
	Point (Point< T, Dimensions > const &other)=default
	Copy constructor.
	Point (Point< T, Dimensions > &&other)=default
	Move constructor.
	Point (Point< U, Dimensions > const &other)
	Conversion copy constructor, uses nrt::clamped_convert<T,U> internally.
Point< T, Dimensions > &	operator= (Point< T, Dimensions > const &other)=default
	Assignment.
Point< T, Dimensions > &	operator= (Point< T, Dimensions > &&other)=default
	Move assignment.
T &	operator[] (size_t index)
	Access a single dimension of the Point.
T const &	operator[] (size_t index) const
	Access a single dimension of the Point - const version.
double	distanceTo (Point< U, Dimensions > const &other) const
	Compute the Euclidian distance to another point.
double	squaredDistanceTo (Point< U, Dimensions > const &other) const
	Compute the squared Euclidian distance to another point.
double	magnitude () const
	Compute the magnitude (the Euclidian distance from the origin)
double	manhattanDistanceTo (Point< U, Dimensions > const &other) const
	Compute the Manhattan distance to another point.
T *	begin ()
	Access the beginning of the underlying array.
T const *	begin () const
	Access the beginning of the underlying array - const version.
T *	end ()
	Access the end of the underlying array.
T const *	end () const
	Access the end of the underlying array - const version.

Additional Inherited Members
Protected Member Functions inherited from nrt::Point< T, 4 >
void	serialize (Archive &ar)
	Serialization.
Protected Attributes inherited from nrt::Point< T, 4 >
std::array< T, Dimensions >	itsData

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The documentation for this class was generated from the following files:

• include/nrt/PointCloud2/PointCloud2PointSSE.H
• include/nrt/PointCloud2/details/PointCloud2PointSSEImpl.H