mrpt::math::TPose3D Struct Reference

Detailed Description

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

Allows coordinate access using [] operator.

See also

mrpt::poses::CPose3D

Definition at line 418 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
	TPose3D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...
	TPose3D (const TPose2D &p)
	Implicit constructor from TPose2D. More...
	TPose3D (const TPoint3D &p)
	Implicit constructor from TPoint3D. More...
	TPose3D (const mrpt::poses::CPose3D &p)
	Implicit constructor from heavyweight type. More...
	TPose3D (double _x, double _y, double _z, double _yaw, double _pitch, double _roll)
	Constructor from coordinates. More...
	TPose3D ()
	Default fast constructor. 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 (eg: "[x y z yaw pitch roll]", 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]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	X coordinate. More...
double	y
	Y coordinate. More...
double	z
	Z coordinate. More...
double	yaw
	Yaw coordinate (rotation angle over Z axis). More...
double	pitch
	Pitch coordinate (rotation angle over Y axis). More...
double	roll
	Roll coordinate (rotation angle over X coordinate). More...

Constructor & Destructor Documentation

TPose3D() [1/6]

mrpt::math::TPose3D::TPose3D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes all the unprovided information.

See also

TPoint2D

TPose3D() [2/6]

mrpt::math::TPose3D::TPose3D

(

const TPose2D &

p

)

Implicit constructor from TPose2D.

Gets the yaw from the 2D pose's phi, zeroing all the unprovided information.

See also

TPose2D

TPose3D() [3/6]

mrpt::math::TPose3D::TPose3D

(

const TPoint3D &

p

)

Implicit constructor from TPoint3D.

Zeroes angular information.

See also

TPoint3D

TPose3D() [4/6]

mrpt::math::TPose3D::TPose3D

(

const mrpt::poses::CPose3D &

p

)

Implicit constructor from heavyweight type.

See also

mrpt::poses::CPose3D

TPose3D() [5/6]

mrpt::math::TPose3D::TPose3D ( double  _x, double  _y, double  _z, double  _yaw, double  _pitch, double  _roll  )

inline

Constructor from coordinates.

Definition at line 466 of file lightweight_geom_data.h.

TPose3D() [6/6]

mrpt::math::TPose3D::TPose3D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 470 of file lightweight_geom_data.h.

Member Function Documentation

asString() [1/2]

void mrpt::math::TPose3D::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.)

See also

fromString

Definition at line 499 of file lightweight_geom_data.h.

References mrpt::mrpt::format(), and RAD2DEG.

asString() [2/2]

std::string mrpt::math::TPose3D::asString ( ) const

inline

Definition at line 500 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

fromString()

void mrpt::math::TPose3D::fromString

(

const std::string &

s

)

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

See also

asString

Exceptions

std::exception

On invalid format

getAsVector()

void mrpt::math::TPose3D::getAsVector ( vector_double &  v ) const

inline

Gets the pose as a vector of doubles.

Definition at line 492 of file lightweight_geom_data.h.

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

norm()

double mrpt::math::TPose3D::norm ( ) const

inline

Pose's spatial coordinates norm.

Definition at line 486 of file lightweight_geom_data.h.

References mrpt::utils::square().

operator[]() [1/2]

double& mrpt::math::TPose3D::operator[] ( size_t  i )

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 474 of file lightweight_geom_data.h.

operator[]() [2/2]

const double& mrpt::math::TPose3D::operator[] ( size_t  i ) const

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 480 of file lightweight_geom_data.h.

size()

static size_t mrpt::math::TPose3D::size ( )

inlinestatic

Definition at line 507 of file lightweight_geom_data.h.

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

Member Data Documentation

pitch

double mrpt::math::TPose3D::pitch

Pitch coordinate (rotation angle over Y axis).

Definition at line 438 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

roll

double mrpt::math::TPose3D::roll

Roll coordinate (rotation angle over X coordinate).

Definition at line 442 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

x

double mrpt::math::TPose3D::x

X coordinate.

Definition at line 422 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

y

double mrpt::math::TPose3D::y

Y coordinate.

Definition at line 426 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

yaw

double mrpt::math::TPose3D::yaw

Yaw coordinate (rotation angle over Z axis).

Definition at line 434 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

z

double mrpt::math::TPose3D::z

Z coordinate.

Definition at line 430 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().