mrpt::math::TPose3DQuat Struct Reference

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::exception

On 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().