mrpt::math::TTwist3D Struct Reference

Detailed Description

3D twist: 3D velocity vector (vx,vy,vz) + angular velocity (wx,wy,wz)

See also

mrpt::math::TTwist2D, mrpt::math::TPose3D

Definition at line 1666 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 6 }

Public Member Functions
	TTwist3D (double vx_, double vy_, double vz_, double wx_, double wy_, double wz_)
	Constructor from components. More...
	TTwist3D ()
	Default fast constructor. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...
void	getAsVector (std::vector< double > &v) const
	Transformation into vector. More...
bool	operator== (const TTwist3D &o) const
bool	operator!= (const TTwist3D &o) const
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[vx vy vz wx wy wz]", omegas in deg/s) More...
std::string	asString () const
void	rotate (const mrpt::poses::CPose3D &rot)
	Transform all 6 components for a change of reference frame from "A" to another frame "B" whose rotation with respect to "A" is given by rot. More...
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[vx vy vz wx wy wz]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	vx
double	vy
double	vz
	Velocity components: X,Y (m/s) More...
double	wx
double	wy
double	wz
	Angular velocity (rad/s) More...

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 1667 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

TTwist3D() [1/2]

mrpt::math::TTwist3D::TTwist3D ( double  vx_, double  vy_, double  vz_, double  wx_, double  wy_, double  wz_  )

inline

Constructor from components.

Definition at line 1672 of file lightweight_geom_data.h.

TTwist3D() [2/2]

mrpt::math::TTwist3D::TTwist3D ( )

inline

Default fast constructor.

Initializes to garbage

Definition at line 1674 of file lightweight_geom_data.h.

Member Function Documentation

asString() [1/2]

void mrpt::math::TTwist3D::asString

(

std::string &

s

)

const

Returns a human-readable textual representation of the object (eg: "[vx vy vz wx wy wz]", omegas in deg/s)

See also

fromString

Definition at line 132 of file lightweight_geom_data.cpp.

References mrpt::mrpt::format(), mrpt::mrpt::utils::RAD2DEG(), vx, vy, vz, wx, wy, and wz.

asString() [2/2]

std::string mrpt::math::TTwist3D::asString ( ) const

inline

Definition at line 1690 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

fromString()

void mrpt::math::TTwist3D::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[vx vy vz wx wy wz]" )

See also

asString

Exceptions

std::exception

On invalid format

Definition at line 135 of file lightweight_geom_data.cpp.

References ASSERTMSG_, DEG2RAD, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

getAsVector()

void mrpt::math::TTwist3D::getAsVector ( std::vector< double > &  v ) const

inline

Transformation into vector.

Definition at line 1680 of file lightweight_geom_data.h.

operator!=()

bool mrpt::math::TTwist3D::operator!=

(

const TTwist3D &

o

)

const

Definition at line 161 of file lightweight_geom_data.cpp.

operator==()

bool mrpt::math::TTwist3D::operator==

(

const TTwist3D &

o

)

const

Definition at line 157 of file lightweight_geom_data.cpp.

References vx, vy, vz, wx, wy, and wz.

operator[]() [1/2]

double& mrpt::math::TTwist3D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 1676 of file lightweight_geom_data.h.

operator[]() [2/2]

const double& mrpt::math::TTwist3D::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 1678 of file lightweight_geom_data.h.

rotate()

void mrpt::math::TTwist3D::rotate

(

const mrpt::poses::CPose3D &

rot

)

Transform all 6 components for a change of reference frame from "A" to another frame "B" whose rotation with respect to "A" is given by rot.

The translational part of the pose is ignored

Definition at line 145 of file lightweight_geom_data.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), R, vx, vy, vz, wx, wy, and wz.

size()

static size_t mrpt::math::TTwist3D::size ( )

inlinestatic

Definition at line 1701 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator<<(), and mrpt::math::operator>>().

Member Data Documentation

vx

double mrpt::math::TTwist3D::vx

Definition at line 1668 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().

vy

double mrpt::math::TTwist3D::vy

Definition at line 1668 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().

vz

double mrpt::math::TTwist3D::vz

Velocity components: X,Y (m/s)

Definition at line 1668 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().

wx

double mrpt::math::TTwist3D::wx

Definition at line 1669 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().

wy

double mrpt::math::TTwist3D::wy

Definition at line 1669 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().

wz

double mrpt::math::TTwist3D::wz

Angular velocity (rad/s)

Definition at line 1669 of file lightweight_geom_data.h.

Referenced by asString(), operator==(), and rotate().