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mrpt::poses::CPose3D Class Reference

Detailed Description

A class used to store a 3D pose (a 3D translation + a rotation in 3D).

The 6D transformation in SE(3) stored in this class is kept in two separate containers: a 3-array for the translation, and a 3x3 rotation matrix.

This class allows parameterizing 6D poses as a 6-vector: [x y z yaw pitch roll] (read below for the angles convention). Note however, that the yaw/pitch/roll angles are only computed (on-demand and transparently) when the user requests them. Normally, rotations and transformations are always handled via the 3x3 rotation matrix.

Yaw/Pitch/Roll angles are defined as successive rotations around local (dynamic) axes in the Z/Y/X order:

It may be extremely confusing and annoying to find a different criterion also involving the names "yaw, pitch, roll" but regarding rotations around global (static) axes. Fortunately, it's very easy to see (by writing down the product of the three rotation matrices) that both conventions lead to exactly the same numbers. Only, that it's conventional to write the numbers in reverse order. That is, the same rotation can be described equivalently with any of these two parameterizations:

For further descriptions of point & pose classes, see mrpt::poses::CPoseOrPoint or refer to the 2D/3D Geometry tutorial online.

To change the individual components of the pose, use CPose3D::setFromValues. This class assures that the internal 3x3 rotation matrix is always up-to-date with the "yaw pitch roll" members.

Rotations in 3D can be also represented by quaternions. See mrpt::math::CQuaternion, and method CPose3D::getAsQuaternion.

This class and CPose3DQuat are very similar, and they can be converted to the each other automatically via transformation constructors.

There are Lie algebra methods: exp and ln (see the methods for documentation).

Note
Read also: "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", (Technical report), 2010-2014. PDF
See Also
CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 72 of file CPose3D.h.

#include <mrpt/poses/CPose3D.h>

Inheritance diagram for mrpt::poses::CPose3D:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { rotation_dimensions = 3 }
 
enum  { is_PDF_val = 0 }
 
typedef CPose3D type_value
 Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void setToNaN () MRPT_OVERRIDE
 Set all data fields to quiet NaN. More...
 
const type_valuegetPoseMean () const
 
type_valuegetPoseMean ()
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
Constructors
 CPose3D ()
 Default constructor, with all the coordinates set to zero. More...
 
 CPose3D (const double x, const double y, const double z, const double yaw=0, const double pitch=0, const double roll=0)
 Constructor with initilization of the pose; (remember that angles are always given in radians!) More...
 
 CPose3D (const math::CMatrixDouble &m)
 Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed). More...
 
 CPose3D (const math::CMatrixDouble44 &m)
 Constructor from a 4x4 homogeneous matrix: More...
 
template<class MATRIX33 , class VECTOR3 >
 CPose3D (const MATRIX33 &rot, const VECTOR3 &xyz)
 Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a mrpt::math::TPoint3D. More...
 
 CPose3D (const mrpt::math::CMatrixDouble33 &rot, const mrpt::math::CArrayDouble< 3 > &xyz)
 
 CPose3D (const CPose2D &)
 Constructor from a CPose2D object. More...
 
 CPose3D (const CPoint3D &)
 Constructor from a CPoint3D object. More...
 
 CPose3D (const mrpt::math::TPose3D &)
 Constructor from lightweight object. More...
 
 CPose3D (const mrpt::math::CQuaternionDouble &q, const double x, const double y, const double z)
 Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement. More...
 
 CPose3D (const CPose3DQuat &)
 Constructor from a CPose3DQuat. More...
 
 CPose3D (const CPose3DRotVec &p)
 Constructor from a CPose3DRotVec. More...
 
 CPose3D (TConstructorFlags_Poses)
 Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...
 
 CPose3D (const mrpt::math::CArrayDouble< 12 > &vec12)
 Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 
Access 3x3 rotation and 4x4 homogeneous matrices
void getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
mrpt::math::CMatrixDouble44 getHomogeneousMatrixVal () const
 
void getRotationMatrix (mrpt::math::CMatrixDouble33 &ROT) const
 Get the 3x3 rotation matrix. More...
 
const mrpt::math::CMatrixDouble33getRotationMatrix () const
 
void setRotationMatrix (const mrpt::math::CMatrixDouble33 &ROT)
 Sets the 3x3 rotation matrix. More...
 
Pose-pose and pose-point compositions and operators
CPose3D operator+ (const CPose3D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
CPoint3D operator+ (const CPoint3D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
CPoint3D operator+ (const CPoint2D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
void sphericalCoordinates (const mrpt::math::TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch) const
 Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. More...
 
void composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dpose=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=NULL, bool use_small_rot_approx=false) const
 An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose. More...
 
void composePoint (const mrpt::math::TPoint3D &local_point, mrpt::math::TPoint3D &global_point) const
 An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose. More...
 
void composePoint (const mrpt::math::TPoint3D &local_point, mrpt::math::TPoint2D &global_point) const
 This version of the method assumes that the resulting point has no Z component (use with caution!) More...
 
void composePoint (double lx, double ly, double lz, float &gx, float &gy, float &gz) const
 An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose. 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, 6 > *out_jacobian_df_dpose=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=NULL) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
void inverseComposePoint (const mrpt::math::TPoint3D &g, mrpt::math::TPoint3D &l) const
 
void inverseComposePoint (const mrpt::math::TPoint2D &g, mrpt::math::TPoint2D &l, const double eps=1e-6) const
 overload for 2D points

Exceptions
Ifthe z component of the result is greater than some epsilon
More...
 
void composeFrom (const CPose3D &A, const CPose3D &B)
 Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...
 
CPose3Doperator+= (const CPose3D &b)
 Make $ this = this \oplus b $ (b can be "this" without problems) More...
 
void inverseComposeFrom (const CPose3D &A, const CPose3D &B)
 Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...
 
CPose3D operator- (const CPose3D &b) const
 Compute $ RET = this \oplus b $. More...
 
void inverse ()
 Convert this pose into its inverse, saving the result in itself. More...
 
void changeCoordinatesReference (const CPose3D &p)
 makes: this = p (+) this More...
 
Access and modify contents
void addComponents (const CPose3D &p)
 Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. More...
 
void normalizeAngles ()
 Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents) More...
 
void operator*= (const double s)
 Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval). More...
 
void setFromValues (const double x0, const double y0, const double z0, const double yaw=0, const double pitch=0, const double roll=0)
 Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix. More...
 
template<typename VECTORLIKE >
void setFromXYZQ (const VECTORLIKE &v, const size_t index_offset=0)
 Set the pose from a 3D position (meters) and a quaternion, stored as [x y z qr qx qy qz] in a 7-element vector. More...
 
void setYawPitchRoll (const double yaw_, const double pitch_, const double roll_)
 Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinates matrix. More...
 
template<class ARRAYORVECTOR >
void setFrom12Vector (const ARRAYORVECTOR &vec12)
 Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 
template<class ARRAYORVECTOR >
void getAs12Vector (ARRAYORVECTOR &vec12) const
 Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 
void getYawPitchRoll (double &yaw, double &pitch, double &roll) const
 Returns the three angles (yaw, pitch, roll), in radians, from the rotation matrix. More...
 
double yaw () const
 Get the YAW angle (in radians) More...
 
double pitch () const
 Get the PITCH angle (in radians) More...
 
double roll () const
 Get the ROLL angle (in radians) More...
 
void getAsVector (mrpt::math::CVectorDouble &v) const
 Returns a 1x6 vector with [x y z yaw pitch roll]. More...
 
void getAsVector (mrpt::math::CArrayDouble< 6 > &v) const
 
void getAsQuaternion (mrpt::math::CQuaternionDouble &q, mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *out_dq_dr=NULL) const
 Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored)

\[ \mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right) \]

With : $ \phi = roll $, $ \theta = pitch $ and $ \psi = yaw $. More...

 
const double & operator[] (unsigned int i) const
 
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: "[x y z yaw pitch roll]", angles in deg. More...
 
bool isHorizontal (const double tolerance=0) const
 Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested). More...
 
double distanceEuclidean6D (const CPose3D &o) const
 The euclidean distance between two poses taken as two 6-length vectors (angles in radians). More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

mrpt::math::CArrayDouble< 3 > m_coords
 The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods. More...
 

Static Public Attributes

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

Protected Member Functions

void rebuildRotationMatrix ()
 Rebuild the homog matrix from the angles. More...
 
void updateYawPitchRoll () const
 Updates Yaw/pitch/roll members from the m_ROT. More...
 
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...
 

Protected Attributes

mrpt::math::CMatrixDouble33 m_ROT
 The 3x3 rotation matrix, access with getRotationMatrix(), setRotationMatrix() (It's not safe to set this field as public) More...
 
bool m_ypr_uptodate
 Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update. More...
 
double m_yaw
 
double m_pitch
 
double m_roll
 These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc ) More...
 

RTTI stuff

typedef CPose3DPtr Ptr
 
typedef CPose3DPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3D
 
static mrpt::utils::TRuntimeClassId classCPose3D
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () 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 CPose3DPtr Create ()
 

Lie Algebra methods

void ln (mrpt::math::CArrayDouble< 6 > &out_ln) const
 Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE(3) Lie Algebra. More...
 
mrpt::math::CArrayDouble< 6 > ln () const
 
void ln_jacob (mrpt::math::CMatrixFixedNumeric< double, 6, 12 > &J) const
 Jacobian of the logarithm of the 3x4 matrix defined by this pose. More...
 
mrpt::math::CArrayDouble< 3 > ln_rotation () const
 Take the logarithm of the 3x3 rotation matrix, generating the corresponding vector in the Lie Algebra. More...
 
static CPose3D exp (const mrpt::math::CArrayNumeric< double, 6 > &vect, bool pseudo_exponential=false)
 Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3D (static method). More...
 
static void exp (const mrpt::math::CArrayNumeric< double, 6 > &vect, CPose3D &out_pose, bool pseudo_exponential=false)
 
static mrpt::math::CMatrixDouble33 exp_rotation (const mrpt::math::CArrayNumeric< double, 3 > &vect)
 Exponentiate a vector in the Lie algebra to generate a new SO(3) (a 3x3 rotation matrix). More...
 
static void ln_rot_jacob (const mrpt::math::CMatrixDouble33 &R, mrpt::math::CMatrixFixedNumeric< double, 3, 9 > &M)
 Static function to compute the Jacobian of the SO(3) Logarithm function, evaluated at a given 3x3 rotation matrix R. More...
 
static void jacob_dexpeD_de (const CPose3D &D, Eigen::Matrix< double, 12, 6 > &jacob)
 The Jacobian d (e^eps * D) / d eps , with eps=increment in Lie Algebra. More...
 
static void jacob_dAexpeD_de (const CPose3D &A, const CPose3D &D, Eigen::Matrix< double, 12, 6 > &jacob)
 The Jacobian d (A * e^eps * D) / d eps , with eps=increment in Lie Algebra. More...
 

STL-like methods and typedefs

enum  { static_size = 6 }
 
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
 
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...
 
mrpt::math::CVectorDouble getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
void getInverseHomogeneousMatrix (mrpt::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

Definition at line 518 of file CPose3D.h.

typedef CPose3DPtr mrpt::poses::CPose3D::ConstPtr

Definition at line 75 of file CPose3D.h.

Definition at line 520 of file CPose3D.h.

typedef CPose3DPtr mrpt::poses::CPose3D::Ptr

A typedef for the associated smart pointer

Definition at line 75 of file CPose3D.h.

Definition at line 517 of file CPose3D.h.

typedef std::size_t mrpt::poses::CPose3D::size_type

Definition at line 519 of file CPose3D.h.

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

Definition at line 504 of file CPose3D.h.

The type of the elements.

Definition at line 516 of file CPose3D.h.

Member Enumeration Documentation

anonymous enum
Enumerator
is_3D_val 

Definition at line 505 of file CPose3D.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 507 of file CPose3D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 508 of file CPose3D.h.

anonymous enum
Enumerator
static_size 

Definition at line 524 of file CPose3D.h.

Constructor & Destructor Documentation

CPose3D::CPose3D ( )

Default constructor, with all the coordinates set to zero.

Definition at line 55 of file CPose3D.cpp.

Referenced by exp().

CPose3D::CPose3D ( const double  x,
const double  y,
const double  z,
const double  yaw = 0,
const double  pitch = 0,
const double  roll = 0 
)

Constructor with initilization of the pose; (remember that angles are always given in radians!)

Definition at line 64 of file CPose3D.cpp.

References setFromValues().

CPose3D::CPose3D ( const math::CMatrixDouble m)
explicit

Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed).

Definition at line 88 of file CPose3D.cpp.

References ASSERT_ABOVEEQ_, m_coords, m_ROT, and mrpt::mrpt::math::size().

CPose3D::CPose3D ( const math::CMatrixDouble44 m)
explicit

Constructor from a 4x4 homogeneous matrix:

Definition at line 101 of file CPose3D.cpp.

References m_coords, and m_ROT.

template<class MATRIX33 , class VECTOR3 >
mrpt::poses::CPose3D::CPose3D ( const MATRIX33 &  rot,
const VECTOR3 &  xyz 
)
inline

Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a mrpt::math::TPoint3D.

Definition at line 112 of file CPose3D.h.

References ASSERT_EQUAL_, and mrpt::math::size().

mrpt::poses::CPose3D::CPose3D ( const mrpt::math::CMatrixDouble33 rot,
const mrpt::math::CArrayDouble< 3 > &  xyz 
)
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 121 of file CPose3D.h.

CPose3D::CPose3D ( const CPose2D p)
explicit
CPose3D::CPose3D ( const CPoint3D p)
explicit
CPose3D::CPose3D ( const mrpt::math::TPose3D o)
explicit
CPose3D::CPose3D ( const mrpt::math::CQuaternionDouble q,
const double  _x,
const double  _y,
const double  _z 
)

Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement.

Definition at line 112 of file CPose3D.cpp.

References pitch(), roll(), mrpt::math::CQuaternion< T >::rpy(), setFromValues(), and yaw().

CPose3D::CPose3D ( const CPose3DQuat p)
explicit
CPose3D::CPose3D ( const CPose3DRotVec p)
explicit

Constructor from a CPose3DRotVec.

Constructor from a rotation vector-based full pose.

Definition at line 132 of file CPose3D.cpp.

References exp_rotation(), mrpt::poses::CPose3DRotVec::m_coords, m_coords, mrpt::poses::CPose3DRotVec::m_rotvec, and setRotationMatrix().

mrpt::poses::CPose3D::CPose3D ( TConstructorFlags_Poses  )
inline

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 146 of file CPose3D.h.

mrpt::poses::CPose3D::CPose3D ( const mrpt::math::CArrayDouble< 12 > &  vec12)
inlineexplicit

Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

See Also
setFrom12Vector, getAs12Vector

Definition at line 152 of file CPose3D.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::_GetBaseClass ( )
staticprotected
void CPose3D::addComponents ( const CPose3D p)

Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators.

See Also
normalizeAngles

Definition at line 394 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, rebuildRotationMatrix(), and updateYawPitchRoll().

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene().

void mrpt::poses::CPose3D::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 432 of file CPose3D.h.

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

std::string mrpt::poses::CPose3D::asString ( ) const
inline

Definition at line 433 of file CPose3D.h.

References asString().

Referenced by asString().

void mrpt::poses::CPose3D::changeCoordinatesReference ( const CPose3D p)
inline

makes: this = p (+) this

Definition at line 294 of file CPose3D.h.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPose3D::composeFrom ( const CPose3D A,
const CPose3D B 
)
void CPose3D::composePoint ( double  lx,
double  ly,
double  lz,
double &  gx,
double &  gy,
double &  gz,
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *  out_jacobian_df_dpoint = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *  out_jacobian_df_dpose = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *  out_jacobian_df_dse3 = NULL,
bool  use_small_rot_approx = false 
) const

An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose.

If pointers are provided, the corresponding Jacobians are returned. "out_jacobian_df_dse3" stands for the Jacobian with respect to the 6D locally Euclidean vector in the tangent space of SE(3). See this report for mathematical details.

Parameters
Ifset to true, the Jacobian "out_jacobian_df_dpose" uses a fastest linearized appoximation (valid only for small rotations!).

Definition at line 427 of file CPose3D.cpp.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), m_coords, m_pitch, m_roll, m_ROT, m_yaw, MRPT_ALIGN16, and updateYawPitchRoll().

Referenced by mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::obs::CObservation2DRangeScan::filterByExclusionAreas(), mrpt::vision::frameJac(), mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory(), generatePolygon(), mrpt::opengl::C3DSScene::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CSimpleLine::getBoundingBox(), mrpt::opengl::CTexturedPlane::getBoundingBox(), mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CMesh3D::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::vision::pointJac(), mrpt::math::project3D(), project_point(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), Pose3DTests::test_composePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), and unsafeProjectPoint().

void mrpt::poses::CPose3D::composePoint ( const mrpt::math::TPoint3D local_point,
mrpt::math::TPoint3D global_point 
) const
inline

An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose.

Note
local_point is passed by value to allow global and local point to be the same variable

Definition at line 225 of file CPose3D.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::poses::CPose3D::composePoint ( const mrpt::math::TPoint3D local_point,
mrpt::math::TPoint2D global_point 
) const
inline

This version of the method assumes that the resulting point has no Z component (use with caution!)

Definition at line 229 of file CPose3D.h.

References mrpt::math::TPoint2D::x, mrpt::math::TPoint3D::x, mrpt::math::TPoint2D::y, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::poses::CPose3D::composePoint ( double  lx,
double  ly,
double  lz,
float &  gx,
float &  gy,
float &  gz 
) const
inline

An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 3D points and P this 6D pose.

Definition at line 235 of file CPose3D.h.

static CPose3DPtr mrpt::poses::CPose3D::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPose3D::CreateObject ( )
static
double mrpt::poses::CPoseOrPoint< CPose3D >::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 165 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose3D >::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 156 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose3D >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inlineinherited

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

Definition at line 168 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose3D >::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 159 of file CPoseOrPoint.h.

double CPose3D::distanceEuclidean6D ( const CPose3D o) const

The euclidean distance between two poses taken as two 6-length vectors (angles in radians).

Definition at line 410 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, mrpt::math::square(), updateYawPitchRoll(), and mrpt::math::wrapToPi().

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

double mrpt::poses::CPoseOrPoint< CPose3D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose3D >::distanceTo ( const mrpt::math::TPoint3D b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

virtual mrpt::utils::CObject* mrpt::poses::CPose3D::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

static bool mrpt::poses::CPose3D::empty ( )
inlinestatic

Definition at line 526 of file CPose3D.h.

CPose3D CPose3D::exp ( const mrpt::math::CArrayNumeric< double, 6 > &  vect,
bool  pseudo_exponential = false 
)
static

Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3D (static method).

Parameters
pseudo_exponentialIf set to true, XYZ are copied from the first three elements in the vector instead of using the proper Lie Algebra formulas (this is actually the common practice in robotics literature).

Definition at line 757 of file CPose3D.cpp.

References mrpt::poses::UNINITIALIZED_POSE.

Referenced by mrpt::poses::SE_traits< 3 >::exp(), Pose3DTests::func_compose_point_se3(), Pose3DTests::func_invcompose_point_se3(), Pose3DTests::func_jacob_Aexpe_D(), Pose3DTests::func_jacob_expe_D(), Pose3DTests::func_jacob_expe_e(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::poses::SE_traits< 3 >::pseudo_exp(), and Pose3DTests::test_ExpLnEqual().

void CPose3D::exp ( const mrpt::math::CArrayNumeric< double, 6 > &  vect,
CPose3D out_pose,
bool  pseudo_exponential = false 
)
static

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 764 of file CPose3D.cpp.

References CPose3D(), R, setRotationMatrix(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CMatrixDouble33 CPose3D::exp_rotation ( const mrpt::math::CArrayNumeric< double, 3 > &  vect)
static

Exponentiate a vector in the Lie algebra to generate a new SO(3) (a 3x3 rotation matrix).

Definition at line 787 of file CPose3D.cpp.

References R.

Referenced by CPose3D(), and mrpt::poses::CPose3DRotVec::getRotationMatrix().

void mrpt::poses::CPose3D::fromString ( const std::string s)
inline

Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg.

)

See Also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 439 of file CPose3D.h.

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

Referenced by mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific().

template<class ARRAYORVECTOR >
void mrpt::poses::CPose3D::getAs12Vector ( ARRAYORVECTOR &  vec12) const
inline

Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

See Also
setFrom12Vector

Definition at line 376 of file CPose3D.h.

Referenced by Pose3DTests::check_jacob_LnT_T(), Pose3DTests::func_jacob_Aexpe_D(), Pose3DTests::func_jacob_expe_D(), Pose3DTests::func_jacob_expe_e(), and TEST().

void CPose3D::getAsQuaternion ( mrpt::math::CQuaternionDouble q,
mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *  out_dq_dr = NULL 
) const

Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored)

\[ \mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right) \]

With : $ \phi = roll $, $ \theta = pitch $ and $ \psi = yaw $.

Parameters
out_dq_drIf provided, the 4x3 Jacobian of the transformation will be computed and stored here. It's the Jacobian of the transformation from (yaw pitch roll) to (qr qx qy qz).

Definition at line 553 of file CPose3D.cpp.

References mrpt::math::TPose3D::getAsQuaternion(), m_pitch, m_roll, m_yaw, and updateYawPitchRoll().

Referenced by aux_poseypr2posequat(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DQuat::CPose3DQuat(), mrpt::math::jacobians::jacob_quat_from_yawpitchroll(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::math::slerp(), TEST_F(), QuaternionTests::test_gimbalLock(), QuaternionTests::test_lnAndExpMatches(), and Pose3DQuatTests::test_normalizeJacob().

void CPose3D::getAsVector ( mrpt::math::CVectorDouble v) const

Returns a 1x6 vector with [x y z yaw pitch roll].

Definition at line 519 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, and updateYawPitchRoll().

void CPose3D::getAsVector ( mrpt::math::CArrayDouble< 6 > &  v) const

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 531 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, and updateYawPitchRoll().

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose3D >::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 181 of file CPoseOrPoint.h.

void mrpt::poses::CPose3D::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 out_HM) const
inline
mrpt::math::CMatrixDouble44 mrpt::poses::CPose3D::getHomogeneousMatrixVal ( ) const
inline
void mrpt::poses::CPoseOrPoint< CPose3D >::getInverseHomogeneousMatrix ( mrpt::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 201 of file CPoseOrPoint.h.

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3D >::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 208 of file CPoseOrPoint.h.

const type_value& mrpt::poses::CPose3D::getPoseMean ( ) const
inline

Definition at line 511 of file CPose3D.h.

type_value& mrpt::poses::CPose3D::getPoseMean ( )
inline

Definition at line 512 of file CPose3D.h.

void mrpt::poses::CPose3D::getRotationMatrix ( mrpt::math::CMatrixDouble33 ROT) const
inline
const mrpt::math::CMatrixDouble33& mrpt::poses::CPose3D::getRotationMatrix ( ) 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 178 of file CPose3D.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void CPose3D::getYawPitchRoll ( double &  yaw,
double &  pitch,
double &  roll 
) const

Returns the three angles (yaw, pitch, roll), in radians, from the rotation matrix.

See Also
setFromValues, yaw, pitch, roll

Definition at line 321 of file CPose3D.cpp.

References ASSERTDEBMSG_, m_ROT, and mrpt::math::square().

void CPose3D::inverse ( )

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

See Also
operator-

Definition at line 618 of file CPose3D.cpp.

References mrpt::math::homogeneousMatrixInverse(), m_coords, m_ROT, m_ypr_uptodate, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by Pose3DTests::test_inverse().

void CPose3D::inverseComposeFrom ( const CPose3D A,
const CPose3D 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

Definition at line 645 of file CPose3D.cpp.

References mrpt::math::homogeneousMatrixInverse(), m_coords, m_ROT, m_ypr_uptodate, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by operator-().

void CPose3D::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, 6 > *  out_jacobian_df_dpose = NULL,
mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *  out_jacobian_df_dse3 = NULL 
) const
void mrpt::poses::CPose3D::inverseComposePoint ( const mrpt::math::TPoint3D g,
mrpt::math::TPoint3D l 
) 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 253 of file CPose3D.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::poses::CPose3D::inverseComposePoint ( const mrpt::math::TPoint2D g,
mrpt::math::TPoint2D l,
const double  eps = 1e-6 
) const
inline

overload for 2D points

Exceptions
Ifthe z component of the result is greater than some epsilon

Definition at line 258 of file CPose3D.h.

References ASSERT_BELOW_, eps, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

static bool mrpt::poses::CPoseOrPoint< CPose3D >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 127 of file CPoseOrPoint.h.

static bool mrpt::poses::CPose3D::is_3D ( )
inlinestatic

Definition at line 506 of file CPose3D.h.

static bool mrpt::poses::CPose3D::is_PDF ( )
inlinestatic

Definition at line 509 of file CPose3D.h.

bool CPose3D::isHorizontal ( const double  tolerance = 0) const

Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested).

Definition at line 633 of file CPose3D.cpp.

References M_PI, m_pitch, m_roll, updateYawPitchRoll(), and mrpt::math::wrapToPi().

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), and mrpt::obs::CObservation2DRangeScan::isPlanarScan().

void CPose3D::jacob_dAexpeD_de ( const CPose3D A,
const CPose3D D,
Eigen::Matrix< double, 12, 6 > &  jacob 
)
static

The Jacobian d (A * e^eps * D) / d eps , with eps=increment in Lie Algebra.

Note
Eq. 10.3.7 in tech report http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf

Definition at line 1003 of file CPose3D.cpp.

References getRotationMatrix(), m_coords, m_ROT, and mrpt::math::skew_symmetric3_neg().

Referenced by Pose3DTests::test_Jacob_dAexpeD_de().

void CPose3D::jacob_dexpeD_de ( const CPose3D D,
Eigen::Matrix< double, 12, 6 > &  jacob 
)
static

The Jacobian d (e^eps * D) / d eps , with eps=increment in Lie Algebra.

Note
Eq. 10.3.5 in tech report http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf

Definition at line 988 of file CPose3D.cpp.

References m_coords, m_ROT, and mrpt::math::skew_symmetric3_neg().

Referenced by Pose3DTests::test_Jacob_dexpeD_de().

void CPose3D::ln ( mrpt::math::CArrayDouble< 6 > &  out_ln) const

Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE(3) Lie Algebra.

See Also
ln_jacob

Definition at line 793 of file CPose3D.cpp.

References m_coords, and m_ROT.

Referenced by Pose3DTests::func_jacob_LnT_T(), mrpt::poses::SE_traits< 3 >::ln(), and Pose3DTests::test_ExpLnEqual().

mrpt::math::CArrayDouble<6> mrpt::poses::CPose3D::ln ( ) 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 477 of file CPose3D.h.

References ln().

Referenced by ln().

void CPose3D::ln_jacob ( mrpt::math::CMatrixFixedNumeric< double, 6, 12 > &  J) const

Jacobian of the logarithm of the 3x4 matrix defined by this pose.

See Also
ln

Definition at line 899 of file CPose3D.cpp.

References mrpt::poses::deltaR(), mrpt::poses::dVinvt_dR(), ln_rot_jacob(), m_ROT, R, mrpt::math::skew_symmetric3(), mrpt::math::square(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by Pose3DTests::check_jacob_LnT_T().

void CPose3D::ln_rot_jacob ( const mrpt::math::CMatrixDouble33 R,
mrpt::math::CMatrixFixedNumeric< double, 3, 9 > &  M 
)
static

Static function to compute the Jacobian of the SO(3) Logarithm function, evaluated at a given 3x3 rotation matrix R.

See Also
ln, ln_jacob

Definition at line 965 of file CPose3D.cpp.

References mrpt::poses::deltaR(), mrpt::poses::M3x9(), R, mrpt::math::square(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by ln_jacob().

CArrayDouble< 3 > CPose3D::ln_rotation ( ) const

Take the logarithm of the 3x3 rotation matrix, generating the corresponding vector in the Lie Algebra.

Definition at line 781 of file CPose3D.cpp.

References m_ROT, and R.

Referenced by mrpt::poses::CPose3DRotVec::composeFrom(), mrpt::poses::CPose3DRotVec::rotVecFromRotMat(), and mrpt::poses::CPose3DRotVec::setFromXYZAndAngles().

static size_type mrpt::poses::CPose3D::max_size ( )
inlinestatic

Definition at line 527 of file CPose3D.h.

References static_size.

double mrpt::poses::CPoseOrPoint< CPose3D >::norm ( ) const
inlineinherited

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

Definition at line 174 of file CPoseOrPoint.h.

void CPose3D::normalizeAngles ( )

Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents)

See Also
addComponents

Definition at line 245 of file CPose3D.cpp.

References updateYawPitchRoll().

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene().

void mrpt::poses::CPose3D::operator delete ( void ptr)
throw (
)
inline

Definition at line 75 of file CPose3D.h.

void mrpt::poses::CPose3D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 75 of file CPose3D.h.

void mrpt::poses::CPose3D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 75 of file CPose3D.h.

void mrpt::poses::CPose3D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 75 of file CPose3D.h.

static void* mrpt::poses::CPose3D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 75 of file CPose3D.h.

void* mrpt::poses::CPose3D::operator new ( size_t  size)
inline

Definition at line 75 of file CPose3D.h.

void* mrpt::poses::CPose3D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 75 of file CPose3D.h.

void* mrpt::poses::CPose3D::operator new[] ( size_t  size)
inline

Definition at line 75 of file CPose3D.h.

void CPose3D::operator*= ( const double  s)

Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval).

Definition at line 306 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, rebuildRotationMatrix(), and updateYawPitchRoll().

CPose3D mrpt::poses::CPose3D::operator+ ( const CPose3D b) const
inline

The operator $ a \oplus b $ is the pose compounding operator.

Definition at line 190 of file CPose3D.h.

References composeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

CPoint3D CPose3D::operator+ ( const CPoint3D b) const

The operator $ a \oplus b $ is the pose compounding operator.

Definition at line 572 of file CPose3D.cpp.

References m_coords, m_ROT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CPoint3D CPose3D::operator+ ( const CPoint2D b) const

The operator $ a \oplus b $ is the pose compounding operator.

Definition at line 583 of file CPose3D.cpp.

References m_coords, m_ROT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CPose3D& mrpt::poses::CPose3D::operator+= ( const CPose3D b)
inline

Make $ this = this \oplus b $ (b can be "this" without problems)

Definition at line 270 of file CPose3D.h.

CPose3D mrpt::poses::CPose3D::operator- ( const CPose3D b) const
inline

Compute $ RET = this \oplus b $.

Definition at line 283 of file CPose3D.h.

References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

const double& mrpt::poses::CPose3D::operator[] ( unsigned int  i) const
inline

Definition at line 410 of file CPose3D.h.

double mrpt::poses::CPose3D::pitch ( ) const
inline
void CPose3D::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.

Definition at line 162 of file CPose3D.cpp.

References ASSERT_, m_coords, m_ROT, m_ypr_uptodate, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::mrpt::math::size(), and mrpt::math::UNINITIALIZED_QUATERNION.

void CPose3D::rebuildRotationMatrix ( )
protected

Rebuild the homog matrix from the angles.

Definition at line 277 of file CPose3D.cpp.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), m_pitch, m_roll, m_ROT, m_yaw, and MRPT_ALIGN16.

Referenced by addComponents(), operator*=(), and setFromValues().

static void mrpt::poses::CPose3D::resize ( const size_t  n)
inlinestatic

Definition at line 528 of file CPose3D.h.

References static_size.

double mrpt::poses::CPose3D::roll ( ) const
inline
template<class ARRAYORVECTOR >
void mrpt::poses::CPose3D::setFrom12Vector ( const ARRAYORVECTOR &  vec12)
inline

Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

See Also
getAs12Vector

Definition at line 360 of file CPose3D.h.

Referenced by Pose3DTests::func_jacob_LnT_T().

void CPose3D::setFromValues ( const double  x0,
const double  y0,
const double  z0,
const double  yaw = 0,
const double  pitch = 0,
const double  roll = 0 
)

Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix.

See Also
getYawPitchRoll, setYawPitchRoll

Definition at line 254 of file CPose3D.cpp.

References m_coords, m_pitch, m_roll, m_yaw, m_ypr_uptodate, rebuildRotationMatrix(), and mrpt::math::wrapToPi().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), CPose3D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFSOG::getMean(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::opengl::CRenderizable::setPose().

template<typename VECTORLIKE >
void mrpt::poses::CPose3D::setFromXYZQ ( const VECTORLIKE &  v,
const size_t  index_offset = 0 
)
inline

Set the pose from a 3D position (meters) and a quaternion, stored as [x y z qr qx qy qz] in a 7-element vector.

See Also
setFromValues, getYawPitchRoll, setYawPitchRoll, CQuaternion, getAsQuaternion

Definition at line 330 of file CPose3D.h.

References ASSERT_ABOVEEQ_.

void mrpt::poses::CPose3D::setRotationMatrix ( const mrpt::math::CMatrixDouble33 ROT)
inline
void CPose3D::setToNaN ( )
virtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose3D >.

Definition at line 1016 of file CPose3D.cpp.

References m_coords, and m_ROT.

void mrpt::poses::CPose3D::setYawPitchRoll ( const double  yaw_,
const double  pitch_,
const double  roll_ 
)
inline

Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinates matrix.

See Also
getYawPitchRoll, setFromValues

Definition at line 347 of file CPose3D.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender().

static size_type mrpt::poses::CPose3D::size ( )
inlinestatic
void CPose3D::sphericalCoordinates ( const mrpt::math::TPoint3D point,
double &  out_range,
double &  out_yaw,
double &  out_pitch 
) 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.

Definition at line 365 of file CPose3D.cpp.

References inverseComposePoint(), local, mrpt::math::TPoint3D::norm(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and Pose3DQuatTests::test_invComposePoint_vs_CPose3D().

double mrpt::poses::CPoseOrPoint< CPose3D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 130 of file CPoseOrPoint.h.

void mrpt::poses::CPose3D::updateYawPitchRoll ( ) const
inlineprotected

Updates Yaw/pitch/roll members from the m_ROT.

Definition at line 92 of file CPose3D.h.

Referenced by addComponents(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), getAsVector(), inverseComposePoint(), isHorizontal(), normalizeAngles(), and operator*=().

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CPose3D::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.

Definition at line 146 of file CPose3D.cpp.

double mrpt::poses::CPoseOrPoint< CPose3D >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

double& mrpt::poses::CPoseOrPoint< CPose3D >::x ( )
inlineinherited

Definition at line 116 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPose3D >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 119 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPose3D >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 122 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose3D >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

double& mrpt::poses::CPoseOrPoint< CPose3D >::y ( )
inlineinherited

Definition at line 117 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPose3D >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 120 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPose3D >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 123 of file CPoseOrPoint.h.

double mrpt::poses::CPose3D::yaw ( ) const
inline

Get the YAW angle (in radians)

See Also
setFromValues

Definition at line 391 of file CPose3D.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), mrpt::graphs::detail::graph_ops< GRAPH_T >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), CPose3D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::poses::CPoint3D::operator+(), mrpt::poses::operator<<(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), Pose3DTests::test_default_values(), TEST_F(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::graphs::detail::graph_ops< GRAPH_T >::write_EDGE_line(), mrpt::graphs::detail::graph_ops< GRAPH_T >::write_VERTEX_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose3D::_init_CPose3D
staticprotected

Definition at line 75 of file CPose3D.h.

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

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3D::classCPose3D
static

Definition at line 75 of file CPose3D.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::classinfo
static

Definition at line 75 of file CPose3D.h.

mrpt::math::CArrayDouble<3> mrpt::poses::CPose3D::m_coords
double mrpt::poses::CPose3D::m_pitch
mutableprotected
double mrpt::poses::CPose3D::m_roll
mutableprotected

These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc )

Definition at line 86 of file CPose3D.h.

Referenced by addComponents(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), getAsVector(), inverseComposePoint(), isHorizontal(), operator*=(), rebuildRotationMatrix(), and setFromValues().

mrpt::math::CMatrixDouble33 mrpt::poses::CPose3D::m_ROT
protected
double mrpt::poses::CPose3D::m_yaw
mutableprotected
bool mrpt::poses::CPose3D::m_ypr_uptodate
mutableprotected

Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update.

Definition at line 85 of file CPose3D.h.

Referenced by composeFrom(), inverse(), inverseComposeFrom(), readFromStream(), and setFromValues().




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