Вы можете использовать std :: transform из алгоритма. Например:
struct Point {
double x;
double y;
};
struct Object {
double val1;
double val2;
Point point;
};
int main()
{
std::vector<Object> objects = {{0.0, 0.1, {1.0, 1.1}},
{0.0, 0.2, {1.0, 1.2}},
{0.0, 0.3, {1.0, 1.3}}};
std::vector<Point> points;
std::transform(objects.begin(), objects.end(), std::back_inserter(points),
[](const auto& object) {return object.point;});
for (const auto& p : points) {
std::cout << p.x << ':' << p.y << std::endl;
}
}