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mrpt::poses::CPose3DQuat Class Reference

Detailed Description

A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).

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

To access the translation use x(), y() and z(). To access the rotation, use CPose3DQuat::quat().

This class also behaves like a STL container, since it has begin(), end(), iterators, and can be accessed with the [] operator with indices running from 0 to 6 to access the [x y z qr qx qy qz] as if they were a vector. Thus, a CPose3DQuat can be used as a 7-vector anywhere the MRPT math functions expect any kind of vector.

This class and CPose3D are very similar, and they can be converted to the each other automatically via transformation constructors.

See also
CPose3D (for a class based on a 4x4 matrix instead of a quaternion), mrpt::math::TPose3DQuat, mrpt::poses::CPose3DQuatPDF for a probabilistic version of this class, mrpt::math::CQuaternion, CPoseOrPoint

Definition at line 70 of file CPose3DQuat.h.

#include <mrpt/poses/CPose3DQuat.h>

Inheritance diagram for mrpt::poses::CPose3DQuat:
Inheritance graph
[legend]

Classes

struct  const_iterator
 
struct  iterator
 

Public Types

enum  { is_3D_val = 1 }
 
enum  { rotation_dimensions = 3 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3DQuat type_value
 Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...
 
typedef CPose3DQuat mrpt_autotype
 See ops_containers.h. More...
 

Public Member Functions

mrpt::math::CQuaternionDoublequat ()
 Read/Write access to the quaternion representing the 3D rotation. More...
 
const mrpt::math::CQuaternionDoublequat () const
 Read-only access to the quaternion representing the 3D rotation. More...
 
mrpt::math::CArrayDouble< 3 > & xyz ()
 Read/Write access to the translation vector in R^3. More...
 
const mrpt::math::CArrayDouble< 3 > & xyz () const
 Read-only access to the translation vector in R^3. More...
 
 CPose3DQuat ()
 Default constructor, initialize translation to zeros and quaternion to no rotation. More...
 
 CPose3DQuat (TConstructorFlags_Quaternions constructor_dummy_param)
 Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor. More...
 
 CPose3DQuat (TConstructorFlags_Poses constructor_dummy_param)
 
 CPose3DQuat (const double x, const double y, const double z, const mrpt::math::CQuaternionDouble &q)
 Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary. More...
 
 CPose3DQuat (const CPose3D &p)
 Constructor from a CPose3D. More...
 
 CPose3DQuat (const mrpt::math::TPose3DQuat &p)
 Constructor from lightweight object. More...
 
 CPose3DQuat (const CMatrixDouble44 &M)
 Constructor from a 4x4 homogeneous transformation matrix. More...
 
void getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getAsVector (vector_double &v) const
 Returns a 1x7 vector with [x y z qr qx qy qz]. More...
 
void getAsVector (mrpt::math::CArrayDouble< 7 > &v) const
 
void composeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
 Makes $ this = A \oplus B $ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...
 
void inverseComposeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
 Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...
 
void composePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacobian_df_dpose=NULL) const
 Computes the 3D point G such as $ G = this \oplus L $. More...
 
void inverseComposePoint (const double gx, const double gy, const double gz, double &lx, double &ly, double &lz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacobian_df_dpose=NULL) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
template<class POINT1 , class POINT2 >
void composePoint (const POINT1 &L, POINT2 &G) const
 Computes the 3D point G such as $ G = this \oplus L $. More...
 
template<class POINT1 , class POINT2 >
void inverseComposePoint (const POINT1 &G, POINT2 &L) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
CPoint3D operator+ (const CPoint3D &L) const
 Computes the 3D point G such as $ G = this \oplus L $. More...
 
TPoint3D operator+ (const TPoint3D &L) const
 Computes the 3D point G such as $ G = this \oplus L $. More...
 
CPoint3D operator- (const CPoint3D &G) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
TPoint3D operator- (const TPoint3D &G) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
virtual void operator*= (const double s)
 Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar). More...
 
CPose3DQuatoperator+= (const CPose3DQuat &b)
 Make $ this = this \oplus b $. More...
 
CPose3DQuat operator+ (const CPose3DQuat &p) const
 Return the composed pose $ ret = this \oplus p $. More...
 
CPose3DQuatoperator-= (const CPose3DQuat &b)
 Make $ this = this \ominus b $. More...
 
CPose3DQuat operator- (const CPose3DQuat &p) const
 Return the composed pose $ ret = this \ominus p $. More...
 
void inverse ()
 Convert this pose into its inverse, saving the result in itself. More...
 
void asString (std::string &s) const
 Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.) More...
 
std::string asString () const
 
void fromString (const std::string &s)
 Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" ) More...
 
const double & operator[] (unsigned int i) const
 Read only [] operator. More...
 
double & operator[] (unsigned int i)
 Read/write [] operator. More...
 
void sphericalCoordinates (const TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacob_dryp_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacob_dryp_dpose=NULL) const
 Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. More...
 
const type_valuegetPoseMean () const
 
type_valuegetPoseMean ()
 
CPose3D operator- (const CPose3D &b) const
 The operator $ a \ominus b $ is the pose inverse compounding operator. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

CArrayDouble< 3 > m_coords
 The translation vector [x,y,z]. More...
 
mrpt::math::CQuaternionDouble m_quat
 The quaternion. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

RTTI stuff

typedef CPose3DQuatPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DQuat
 
static mrpt::utils::TRuntimeClassId classCPose3DQuat
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DQuatPtr Create ()
 

STL-like methods and typedefs

 
enum  { static_size = 7 }
 
typedef double value_type
 The type of the elements. More...
 
typedef double & reference
 
typedef const double & const_reference
 
typedef std::size_t size_type
 
typedef std::ptrdiff_t difference_type
 
typedef std::reverse_iterator< iteratorreverse_iterator
 
typedef std::reverse_iterator< const_iteratorconst_reverse_iterator
 
void assign (const size_t N, const double val)
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
reverse_iterator rbegin ()
 
const_reverse_iterator rbegin () const
 
reverse_iterator rend ()
 
const_reverse_iterator rend () const
 
void swap (CPose3DQuat &o)
 
static size_type size ()
 
static bool empty ()
 
static size_type max_size ()
 
static void resize (const size_t n)
 
double x () const
 Common members of all points & poses classes. More...
 
double & x ()
 
void x (const double v)
 
double y () const
 
double & y ()
 
void y (const double v)
 
void x_incr (const double v)
 
void y_incr (const double v)
 
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
double distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the Euclidean distance to another pose/point: More...
 
double distanceTo (const mrpt::math::TPoint3D &b) const
 Returns the euclidean distance to a 3D point: More...
 
double distance2DToSquare (double ax, double ay) const
 Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...
 
double distance3DToSquare (double ax, double ay, double az) const
 Returns the squared 3D distance from this pose/point to a 3D point. More...
 
double distance2DTo (double ax, double ay) const
 Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...
 
double distance3DTo (double ax, double ay, double az) const
 Returns the 3D distance from this pose/point to a 3D point. More...
 
double norm () const
 Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $. More...
 
vector_double getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
CMatrixDouble44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...
 
mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise. More...
 

Member Typedef Documentation

◆ const_reference

Definition at line 287 of file CPose3DQuat.h.

◆ const_reverse_iterator

Definition at line 436 of file CPose3DQuat.h.

◆ difference_type

Definition at line 289 of file CPose3DQuat.h.

◆ mrpt_autotype

See ops_containers.h.

Definition at line 455 of file CPose3DQuat.h.

◆ reference

Definition at line 286 of file CPose3DQuat.h.

◆ reverse_iterator

typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator

Definition at line 435 of file CPose3DQuat.h.

◆ size_type

Definition at line 288 of file CPose3DQuat.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 73 of file CPose3DQuat.h.

◆ type_value

Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.

Definition at line 273 of file CPose3DQuat.h.

◆ value_type

The type of the elements.

Definition at line 285 of file CPose3DQuat.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 274 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 276 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 277 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 292 of file CPose3DQuat.h.

Constructor & Destructor Documentation

◆ CPose3DQuat() [1/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( )
inline

Default constructor, initialize translation to zeros and quaternion to no rotation.

Definition at line 92 of file CPose3DQuat.h.

◆ CPose3DQuat() [2/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( TConstructorFlags_Quaternions  constructor_dummy_param)
inline

Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor.

Definition at line 95 of file CPose3DQuat.h.

◆ CPose3DQuat() [3/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( TConstructorFlags_Poses  constructor_dummy_param)
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 97 of file CPose3DQuat.h.

◆ CPose3DQuat() [4/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( const double  x,
const double  y,
const double  z,
const mrpt::math::CQuaternionDouble q 
)
inline

Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.

Definition at line 100 of file CPose3DQuat.h.

References mrpt::math::CQuaternion< T >::normalize().

◆ CPose3DQuat() [5/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( const CPose3D p)
explicit

Constructor from a CPose3D.

◆ CPose3DQuat() [6/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( const mrpt::math::TPose3DQuat p)
inline

Constructor from lightweight object.

Definition at line 106 of file CPose3DQuat.h.

References mrpt::math::TPose3DQuat::x, mrpt::math::TPose3DQuat::y, and mrpt::math::TPose3DQuat::z.

◆ CPose3DQuat() [7/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( const CMatrixDouble44 M)
explicit

Constructor from a 4x4 homogeneous transformation matrix.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::_GetBaseClass ( )
staticprotected

◆ assign()

void mrpt::poses::CPose3DQuat::assign ( const size_t  N,
const double  val 
)
inline

Definition at line 298 of file CPose3DQuat.h.

◆ asString() [1/2]

void mrpt::poses::CPose3DQuat::asString ( std::string &  s) const
inline

Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.)

See also
fromString

Definition at line 211 of file CPose3DQuat.h.

References mrpt::mrpt::format().

◆ asString() [2/2]

std::string mrpt::poses::CPose3DQuat::asString ( ) const
inline

Definition at line 212 of file CPose3DQuat.h.

References asString().

Referenced by asString().

◆ begin() [1/2]

iterator mrpt::poses::CPose3DQuat::begin ( )
inline

Definition at line 437 of file CPose3DQuat.h.

◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DQuat::begin ( ) const
inline

Definition at line 439 of file CPose3DQuat.h.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 161 of file CObject.h.

◆ composeFrom()

void mrpt::poses::CPose3DQuat::composeFrom ( const CPose3DQuat A,
const CPose3DQuat B 
)

Makes $ this = A \oplus B $ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.

Note
A or B can be "this" without problems.
See also
inverseComposeFrom, composePoint

Referenced by operator+().

◆ composePoint() [1/2]

void mrpt::poses::CPose3DQuat::composePoint ( const double  lx,
const double  ly,
const double  lz,
double &  gx,
double &  gy,
double &  gz,
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *  out_jacobian_df_dpoint = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *  out_jacobian_df_dpose = NULL 
) const

◆ composePoint() [2/2]

template<class POINT1 , class POINT2 >
void mrpt::poses::CPose3DQuat::composePoint ( const POINT1 &  L,
POINT2 &  G 
) const
inline

Computes the 3D point G such as $ G = this \oplus L $.

POINT1 and POINT1 can be anything supporing [0],[1],[2].

See also
composePoint

Definition at line 154 of file CPose3DQuat.h.

References composePoint().

Referenced by composePoint().

◆ Create()

static CPose3DQuatPtr mrpt::poses::CPose3DQuat::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DQuat::CreateObject ( )
static

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distance2DTo ( double  ax,
double  ay 
) const
inlineinherited

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 191 of file CPoseOrPoint.h.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distance2DToSquare ( double  ax,
double  ay 
) const
inlineinherited

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 183 of file CPoseOrPoint.h.

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inlineinherited

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 194 of file CPoseOrPoint.h.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distance3DToSquare ( double  ax,
double  ay,
double  az 
) const
inlineinherited

Returns the squared 3D distance from this pose/point to a 3D point.

Definition at line 186 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 177 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distanceTo ( const mrpt::math::TPoint3D b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 197 of file CPoseOrPoint.h.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuat::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 158 of file CObject.h.

◆ empty()

static bool mrpt::poses::CPose3DQuat::empty ( )
inlinestatic

Definition at line 294 of file CPose3DQuat.h.

◆ end() [1/2]

iterator mrpt::poses::CPose3DQuat::end ( )
inline

Definition at line 438 of file CPose3DQuat.h.

References static_size.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DQuat::end ( ) const
inline

Definition at line 440 of file CPose3DQuat.h.

References static_size.

◆ fromString()

void mrpt::poses::CPose3DQuat::fromString ( const std::string &  s)
inline

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" )

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 218 of file CPose3DQuat.h.

References ASSERTMSG_, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

◆ getAsVector() [1/2]

void mrpt::poses::CPose3DQuat::getAsVector ( vector_double v) const

Returns a 1x7 vector with [x y z qr qx qy qz].

◆ getAsVector() [2/2]

void mrpt::poses::CPose3DQuat::getAsVector ( mrpt::math::CArrayDouble< 7 > &  v) const
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 120 of file CPose3DQuat.h.

◆ getAsVectorVal()

vector_double mrpt::poses::CPoseOrPoint< CPose3DQuat >::getAsVectorVal ( ) const
inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 206 of file CPoseOrPoint.h.

◆ getHomogeneousMatrix()

void mrpt::poses::CPose3DQuat::getHomogeneousMatrix ( CMatrixDouble44 out_HM) const

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

See also
getInverseHomogeneousMatrix

◆ getHomogeneousMatrixVal()

CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3DQuat >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See also
getInverseHomogeneousMatrix

Definition at line 216 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 out_HM) const
inlineinherited

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also
getHomogeneousMatrix

Definition at line 226 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3DQuat >::getInverseHomogeneousMatrix ( ) const
inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 233 of file CPoseOrPoint.h.

◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose3DQuat::getPoseMean ( ) const
inline

Definition at line 280 of file CPose3DQuat.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose3DQuat::getPoseMean ( )
inline

Definition at line 281 of file CPose3DQuat.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ inverse()

void mrpt::poses::CPose3DQuat::inverse ( )

Convert this pose into its inverse, saving the result in itself.

See also
operator-

◆ inverseComposeFrom()

void mrpt::poses::CPose3DQuat::inverseComposeFrom ( const CPose3DQuat A,
const CPose3DQuat B 
)

Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note
A or B can be "this" without problems.
See also
composeFrom, composePoint

Referenced by operator-().

◆ inverseComposePoint() [1/2]

void mrpt::poses::CPose3DQuat::inverseComposePoint ( const double  gx,
const double  gy,
const double  gz,
double &  lx,
double &  ly,
double &  lz,
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *  out_jacobian_df_dpoint = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *  out_jacobian_df_dpose = NULL 
) const

Computes the 3D point L such as $ L = G \ominus this $.

See also
composePoint, composeFrom

◆ inverseComposePoint() [2/2]

template<class POINT1 , class POINT2 >
void mrpt::poses::CPose3DQuat::inverseComposePoint ( const POINT1 &  G,
POINT2 &  L 
) const
inline

Computes the 3D point L such as $ L = G \ominus this $.

See also
inverseComposePoint

Definition at line 157 of file CPose3DQuat.h.

References inverseComposePoint().

Referenced by inverseComposePoint().

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose3DQuat >::is3DPoseOrPoint ( )
inlinestaticinherited

Return true for poses or points with a Z component, false otherwise.

Definition at line 156 of file CPoseOrPoint.h.

◆ is_3D()

static bool mrpt::poses::CPose3DQuat::is_3D ( )
inlinestatic

Definition at line 275 of file CPose3DQuat.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DQuat::is_PDF ( )
inlinestatic

Definition at line 278 of file CPose3DQuat.h.

◆ max_size()

static size_type mrpt::poses::CPose3DQuat::max_size ( )
inlinestatic

Definition at line 295 of file CPose3DQuat.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::norm ( ) const
inlineinherited

Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.

Definition at line 200 of file CPoseOrPoint.h.

◆ operator*=()

virtual void mrpt::poses::CPose3DQuat::operator*= ( const double  s)
virtual

Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).

◆ operator+() [1/3]

CPoint3D mrpt::poses::CPose3DQuat::operator+ ( const CPoint3D L) const
inline

Computes the 3D point G such as $ G = this \oplus L $.

See also
composePoint

Definition at line 160 of file CPose3DQuat.h.

◆ operator+() [2/3]

TPoint3D mrpt::poses::CPose3DQuat::operator+ ( const TPoint3D L) const
inline

Computes the 3D point G such as $ G = this \oplus L $.

See also
composePoint

Definition at line 163 of file CPose3DQuat.h.

◆ operator+() [3/3]

CPose3DQuat mrpt::poses::CPose3DQuat::operator+ ( const CPose3DQuat p) const
inline

Return the composed pose $ ret = this \oplus p $.

Definition at line 183 of file CPose3DQuat.h.

References composeFrom().

◆ operator+=()

CPose3DQuat& mrpt::poses::CPose3DQuat::operator+= ( const CPose3DQuat b)
inline

Make $ this = this \oplus b $.

Definition at line 176 of file CPose3DQuat.h.

◆ operator-() [1/4]

CPose3D mrpt::poses::CPose< CPose3DQuat >::operator- ( const CPose3D b) const
inherited

The operator $ a \ominus b $ is the pose inverse compounding operator.

Definition at line 561 of file CPose3D.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [2/4]

CPoint3D mrpt::poses::CPose3DQuat::operator- ( const CPoint3D G) const
inline

Computes the 3D point L such as $ L = G \ominus this $.

See also
inverseComposePoint

Definition at line 166 of file CPose3DQuat.h.

◆ operator-() [3/4]

TPoint3D mrpt::poses::CPose3DQuat::operator- ( const TPoint3D G) const
inline

Computes the 3D point L such as $ L = G \ominus this $.

See also
inverseComposePoint

Definition at line 169 of file CPose3DQuat.h.

◆ operator-() [4/4]

CPose3DQuat mrpt::poses::CPose3DQuat::operator- ( const CPose3DQuat p) const
inline

Return the composed pose $ ret = this \ominus p $.

Definition at line 198 of file CPose3DQuat.h.

References inverseComposeFrom().

◆ operator-=()

CPose3DQuat& mrpt::poses::CPose3DQuat::operator-= ( const CPose3DQuat b)
inline

Make $ this = this \ominus b $.

Definition at line 191 of file CPose3DQuat.h.

◆ operator[]() [1/2]

const double& mrpt::poses::CPose3DQuat::operator[] ( unsigned int  i) const
inline

Read only [] operator.

Definition at line 227 of file CPose3DQuat.h.

◆ operator[]() [2/2]

double& mrpt::poses::CPose3DQuat::operator[] ( unsigned int  i)
inline

Read/write [] operator.

Definition at line 243 of file CPose3DQuat.h.

◆ quat() [1/2]

mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( )
inline

Read/Write access to the quaternion representing the 3D rotation.

Definition at line 81 of file CPose3DQuat.h.

◆ quat() [2/2]

const mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( ) const
inline

Read-only access to the quaternion representing the 3D rotation.

Definition at line 83 of file CPose3DQuat.h.

◆ rbegin() [1/2]

reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( )
inline

Definition at line 441 of file CPose3DQuat.h.

References end().

◆ rbegin() [2/2]

const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( ) const
inline

Definition at line 442 of file CPose3DQuat.h.

References end().

◆ readFromStream()

void mrpt::poses::CPose3DQuat::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ rend() [1/2]

reverse_iterator mrpt::poses::CPose3DQuat::rend ( )
inline

Definition at line 443 of file CPose3DQuat.h.

References begin().

◆ rend() [2/2]

const_reverse_iterator mrpt::poses::CPose3DQuat::rend ( ) const
inline

Definition at line 444 of file CPose3DQuat.h.

References begin().

◆ resize()

static void mrpt::poses::CPose3DQuat::resize ( const size_t  n)
inlinestatic

Definition at line 296 of file CPose3DQuat.h.

References mrpt::format(), and static_size.

◆ size()

static size_type mrpt::poses::CPose3DQuat::size ( )
inlinestatic

Definition at line 293 of file CPose3DQuat.h.

References static_size.

◆ sphericalCoordinates()

void mrpt::poses::CPose3DQuat::sphericalCoordinates ( const TPoint3D point,
double &  out_range,
double &  out_yaw,
double &  out_pitch,
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *  out_jacob_dryp_dpoint = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *  out_jacob_dryp_dpose = NULL 
) const

Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.

For the coordinate system see the top of this page. If the matrix pointers are not NULL, the Jacobians will be also computed for the range-yaw-pitch variables wrt the passed 3D point and this 7D pose.

Referenced by mrpt::srba::sensor_model< landmarks::Euclidean3D, observations::RangeBearing_3D >::eval_jacob_dh_dx().

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 159 of file CPoseOrPoint.h.

◆ swap()

void mrpt::poses::CPose3DQuat::swap ( CPose3DQuat o)
inline

Definition at line 447 of file CPose3DQuat.h.

References m_coords, and m_quat.

◆ writeToStream()

void mrpt::poses::CPose3DQuat::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 142 of file CPoseOrPoint.h.

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DQuat >::x ( )
inlineinherited

Definition at line 145 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 148 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 151 of file CPoseOrPoint.h.

◆ xyz() [1/2]

mrpt::math::CArrayDouble<3>& mrpt::poses::CPose3DQuat::xyz ( )
inline

Read/Write access to the translation vector in R^3.

Definition at line 86 of file CPose3DQuat.h.

◆ xyz() [2/2]

const mrpt::math::CArrayDouble<3>& mrpt::poses::CPose3DQuat::xyz ( ) const
inline

Read-only access to the translation vector in R^3.

Definition at line 88 of file CPose3DQuat.h.

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 143 of file CPoseOrPoint.h.

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DQuat >::y ( )
inlineinherited

Definition at line 146 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 149 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 152 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose3DQuat

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuat::_init_CPose3DQuat
staticprotected

Definition at line 73 of file CPose3DQuat.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 146 of file CObject.h.

◆ classCPose3DQuat

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuat::classCPose3DQuat
static

Definition at line 73 of file CPose3DQuat.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 61 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::classinfo
static

Definition at line 73 of file CPose3DQuat.h.

◆ m_coords

CArrayDouble<3> mrpt::poses::CPose3DQuat::m_coords

The translation vector [x,y,z].

Definition at line 76 of file CPose3DQuat.h.

Referenced by swap().

◆ m_quat

mrpt::math::CQuaternionDouble mrpt::poses::CPose3DQuat::m_quat

The quaternion.

Definition at line 77 of file CPose3DQuat.h.

Referenced by swap().




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