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Detailed Description

Lightweight 3D pose (three spatial coordinates, plus a quaternion ).

Allows coordinate access using [] operator.

See also
mrpt::poses::CPose3DQuat

Definition at line 536 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions

 TPose3DQuat (double _x, double _y, double _z, double _qr, double _qx, double _qy, double _qz)
 Constructor from coordinates. More...
 
 TPose3DQuat ()
 Default fast constructor. More...
 
 TPose3DQuat (const mrpt::poses::CPose3DQuat &p)
 Constructor from a CPose3DQuat. More...
 
double & operator[] (size_t i)
 Unsafe coordinate access using operator[]. More...
 
const double & operator[] (size_t i) const
 Unsafe coordinate access using operator[]. More...
 
double norm () const
 Pose's spatial coordinates norm. More...
 
void getAsVector (vector_double &v) const
 Gets the pose as a vector of doubles. More...
 
void asString (std::string &s) const
 Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]". 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 0.0 0.0]" ) More...
 

Static Public Member Functions

static size_t size ()
 

Public Attributes

double x
 Translation in x. More...
 
double y
 Translation in y. More...
 
double z
 Translation in z. More...
 
double qr
 Quaternion part, r. More...
 
double qx
 Quaternion part, x. More...
 
double qy
 Quaternion part, y. More...
 
double qz
 Quaternion part, z. More...
 

Constructor & Destructor Documentation

◆ TPose3DQuat() [1/3]

mrpt::math::TPose3DQuat::TPose3DQuat ( double  _x,
double  _y,
double  _z,
double  _qr,
double  _qx,
double  _qy,
double  _qz 
)
inline

Constructor from coordinates.

Definition at line 546 of file lightweight_geom_data.h.

◆ TPose3DQuat() [2/3]

mrpt::math::TPose3DQuat::TPose3DQuat ( )
inline

Default fast constructor.

Initializes to garbage.

Definition at line 548 of file lightweight_geom_data.h.

◆ TPose3DQuat() [3/3]

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

Constructor from a CPose3DQuat.

Member Function Documentation

◆ asString() [1/2]

void mrpt::math::TPose3DQuat::asString ( std::string &  s) const
inline

Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".

See also
fromString

Definition at line 572 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

◆ asString() [2/2]

std::string mrpt::math::TPose3DQuat::asString ( ) const
inline

Definition at line 573 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

◆ fromString()

void mrpt::math::TPose3DQuat::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 0.0 0.0]" )

See also
asString
Exceptions
std::exceptionOn invalid format

◆ getAsVector()

void mrpt::math::TPose3DQuat::getAsVector ( vector_double v) const
inline

Gets the pose as a vector of doubles.

Definition at line 565 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize().

◆ norm()

double mrpt::math::TPose3DQuat::norm ( ) const
inline

Pose's spatial coordinates norm.

Definition at line 561 of file lightweight_geom_data.h.

References mrpt::utils::square().

◆ operator[]() [1/2]

double& mrpt::math::TPose3DQuat::operator[] ( size_t  i)
inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 553 of file lightweight_geom_data.h.

◆ operator[]() [2/2]

const double& mrpt::math::TPose3DQuat::operator[] ( size_t  i) const
inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 557 of file lightweight_geom_data.h.

◆ size()

static size_t mrpt::math::TPose3DQuat::size ( )
inlinestatic

Definition at line 580 of file lightweight_geom_data.h.

Member Data Documentation

◆ qr

double mrpt::math::TPose3DQuat::qr

Quaternion part, r.

Definition at line 540 of file lightweight_geom_data.h.

◆ qx

double mrpt::math::TPose3DQuat::qx

Quaternion part, x.

Definition at line 541 of file lightweight_geom_data.h.

◆ qy

double mrpt::math::TPose3DQuat::qy

Quaternion part, y.

Definition at line 542 of file lightweight_geom_data.h.

◆ qz

double mrpt::math::TPose3DQuat::qz

Quaternion part, z.

Definition at line 543 of file lightweight_geom_data.h.

◆ x

double mrpt::math::TPose3DQuat::x

Translation in x.

Definition at line 537 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

◆ y

double mrpt::math::TPose3DQuat::y

Translation in y.

Definition at line 538 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

◆ z

double mrpt::math::TPose3DQuat::z

Translation in z.

Definition at line 539 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().




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