Coordinate< T > Class Template Reference

A generic 3D coordinate class for robotics, navigation, and spatial calculations. More...

#include <Coordinate.h>

Inheritance diagram for Coordinate< T >:

Collaboration diagram for Coordinate< T >:

Public Types
using	value_type = T

Public Member Functions
	Coordinate (T x, T y, T z=0)
	Coordinate (const Coordinate &other)
	Copy constructor.
	Coordinate (Distance x, Distance y, Distance z=0)
	Construct from Distance objects.
DistanceM	distance (const Coordinate &other, DistanceUnit unit=DistanceUnit::M) const
float	bearing (const Coordinate &other, AngleUnit unit=AngleUnit::DEG) const
float	elevation (const Coordinate &other, AngleUnit unit=AngleUnit::DEG) const
	Calculate the elevation angle from this coordinate to another.
Coordinate	navigate (Distance distance, Angle bearing, Distance altDiff=0) const
Coordinate	navigate (DistanceM distanceM, float headingDegrees, float altDiffM=0) const
DistanceM	altitudeDifference (const Coordinate &other) const
bool	equals (const Coordinate &other, DistanceM limit) const
bool	equalsWithAltitude (const Coordinate &other, DistanceM limit, DistanceM altLimit) const
Coordinate	operator+ (const Coordinate &other) const
Coordinate	operator- (const Coordinate &other) const
	Calculate new coordinate by subtracting offset in other from this one.
void	operator+= (const Coordinate &other)
	Add offset defined in other to current coordinate.
void	operator-= (const Coordinate &other)
	Subtract offset in other from this one.
void	operator= (const Coordinate &other)
	Assign values from another coordinate.
bool	operator== (const Coordinate< T > &other) const
	Equality operators for use in std::unordered_map and comparisons.
bool	operator!= (const Coordinate< T > &other) const
bool	operator< (const Coordinate &other) const
	Lexicographical comparison for STL containers (priority_queue, set, etc.)
std::string	toString () const
	Convert coordinate to string representation.
bool	fromString (const std::string &str)
	Parse coordinate from string representation.
void	setValues (T newX, T newY, T newZ=0)
	Set coordinate values from numeric types.
void	setValues (Distance newX, Distance newY, Distance newZ=0)
	Set coordinate values from Distance objects.
std::vector< Coordinate< T > >	interpolateTo (const Coordinate< T > &target, T resolution)
	Interpolate points between source and target with a defined resolution.
std::vector< Coordinate< T > >	interpolateTo (const Coordinate< T > &target, Distance resolution)
	Interpolate points between source and target with Distance resolution.
const char *	getTypeName () const
	Get the type name string.
Public Member Functions inherited from Serializable
virtual std::string	toString () const =0
const char *	toCString () const
virtual bool	fromString (const std::string &in)=0
virtual bool	fromString (const char *in)
size_t	writeTo (Print &out) const
size_t	readFrom (Stream &in)

Public Attributes
T	x = 0
	X coordinate (meters)
T	y = 0
	Y coordinate (meters)
T	z = 0
	Z coordinate (meters)

Protected Member Functions
AngleDeg	bearingDeg (const Coordinate &other) const
	Calculate bearing in degrees to another coordinate.
AngleDeg	elevationDeg (const Coordinate &other) const
	Calculate elevation angle in degrees to another coordinate.
DistanceM	distanceM (const Coordinate &other) const
	Calculate Euclidean distance in meters to another coordinate.

Detailed Description

template<typename T = DistanceM>
class tinyrobotics::Coordinate< T >

A generic 3D coordinate class for robotics, navigation, and spatial calculations.

The Coordinate class represents a point in 3D space with x, y, and z values (in meters by default). It is templated to support different numeric types (e.g., float, double) for precision or memory needs. This class provides essential geometric operations for robotics, mapping, and navigation, including:

• Calculating Euclidean distance to another coordinate (with selectable units)
• Computing the horizontal bearing (heading) and vertical elevation angle to another point
• Navigating to a new coordinate given a distance, heading, and altitude change
• Comparing coordinates for proximity within a specified tolerance
• Basic arithmetic operations (addition, subtraction, assignment)
• Serialization and deserialization to/from string for storage or communication

The x, y, and z values are interpreted as meters in a local or global Cartesian frame.

Template Parameters

T	Numeric type for coordinates (default: float)

Example usage:

Coordinate<float> a(1.0, 2.0, 0.5);
Coordinate<float> b(2.0, 3.0, 1.0);
float dist = a.distance(b); // Euclidean distance in meters
float bearing = a.bearing(b); // Horizontal angle in degrees
float elev = a.elevation(b); // Vertical angle in degrees
Coordinate<float> c = a.navigate(5.0, 90); // Move 5m east from a

This class is suitable for use in path planning, SLAM, mapping, sensor fusion, and any application requiring 2D or 3D spatial representation and geometric calculations.

Member Function Documentation

altitudeDifference()

DistanceM altitudeDifference ( const Coordinate< T > &  other ) const

inline

Calculate the altitude difference in meters between this coordinate and another

bearing()

float bearing ( const Coordinate< T > &  other, AngleUnit  unit = AngleUnit::DEG  ) const

inline

Calculate the horizontal bearing (heading) in degrees from this coordinate to another

distance()

DistanceM distance ( const Coordinate< T > &  other, DistanceUnit  unit = DistanceUnit::M  ) const

inline

Calculate the Euclidean distance to another coordinate, with optional unit conversion

equals()

bool equals ( const Coordinate< T > &  other, DistanceM  limit  ) const

inline

Check if this coordinate is within a certain distance of another coordinate

equalsWithAltitude()

bool equalsWithAltitude ( const Coordinate< T > &  other, DistanceM  limit, DistanceM  altLimit  ) const

inline

Compare two GPS coordinates for proximity within specified distance and altitude limits

fromString()

bool fromString ( const std::string &  str )

inlinevirtual

Parse coordinate from string representation.

Implements Serializable.

interpolateTo()

std::vector< Coordinate< T > > interpolateTo ( const Coordinate< T > &  target, T  resolution  )

inline

Interpolate points between source and target with a defined resolution.

Parameters

source	The starting coordinate.
target	The ending coordinate.
resolution	The distance between interpolated points.

Returns

std::vector<Coordinate<T>> List of interpolated coordinates (including source and target).

navigate() [1/2]

Coordinate navigate ( Distance  distance, Angle  bearing, Distance  altDiff = 0  ) const

inline

Navigate to a new coordinate given a distance, heading, and optional altitude change

navigate() [2/2]

Coordinate navigate ( DistanceM  distanceM, float  headingDegrees, float  altDiffM = 0  ) const

inline

Navigate to a new coordinate given a distance, heading, and optional altitude change

operator+()

Coordinate operator+ ( const Coordinate< T > &  other ) const

inline

Calculate new Coordinate by adding offset defined in other to current coordinate

toString()

std::string toString ( ) const

inlinevirtual

Convert coordinate to string representation.

Implements Serializable.

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

• src/TinyRobotics/coordinates/Coordinate.h