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2D/3D points and poses

Detailed Description

Collaboration diagram for 2D/3D points and poses:

Classes

class  mrpt::poses::CPoint< DERIVEDCLASS >
 A base class for representing a point in 2D or 3D. More...
 
class  mrpt::poses::CPoint2D
 A class used to store a 2D point. More...
 
class  mrpt::poses::CPoint3D
 A class used to store a 3D point. More...
 
class  mrpt::poses::CPose< DERIVEDCLASS >
 A base class for representing a pose in 2D or 3D. More...
 
class  mrpt::poses::CPose2D
 A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle. More...
 
class  mrpt::poses::CPose2DInterpolator
 This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). More...
 
class  mrpt::poses::CPose3D
 A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
 
class  mrpt::poses::CPose3DInterpolator
 This class stores a time-stamped trajectory in SE(3) (CPose3D poses). More...
 
class  mrpt::poses::CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
 
class  mrpt::poses::CPose3DRotVec
 A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle). More...
 
class  mrpt::poses::CPoseInterpolatorBase< DIM >
 Base class for SE(2)/SE(3) interpolators. More...
 
class  mrpt::poses::CPoseOrPoint< DERIVEDCLASS >
 The base template class for 2D & 3D points and poses. More...
 
class  mrpt::poses::CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
 
class  mrpt::poses::CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
 
class  mrpt::poses::CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data. More...
 
class  mrpt::poses::FrameTransformerInterface< DIM >
 Virtual base class for interfaces to a ROS tf2-like service capable of "publishing" and "looking-up" relative poses between two "coordinate frames". More...
 
class  mrpt::poses::FrameTransformer< DIM >
 See docs in FrameTransformerInterface. More...
 
struct  mrpt::poses::SE_traits< 3 >
 Specialization of SE for 3D poses. More...
 
struct  mrpt::poses::SE_traits< 2 >
 Specialization of SE for 2D poses. More...
 
class  mrpt::poses::SO_average< 2 >
 Computes weighted and un-weighted averages of SO(2) orientations. More...
 
class  mrpt::poses::SO_average< 3 >
 Computes weighted and un-weighted averages of SO(3) orientations. More...
 
class  mrpt::poses::SE_average< 2 >
 Computes weighted and un-weighted averages of SE(2) poses. More...
 
class  mrpt::poses::SE_average< 3 >
 Computes weighted and un-weighted averages of SE(3) poses. More...
 

Namespaces

 mrpt::poses
 Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.
 

Enumerations

enum  mrpt::poses::TInterpolatorMethod {
  mrpt::poses::imSpline = 0, mrpt::poses::imLinear2Neig, mrpt::poses::imLinear4Neig, mrpt::poses::imSSLLLL,
  mrpt::poses::imSSLSLL, mrpt::poses::imLinearSlerp, mrpt::poses::imSplineSlerp
}
 Type to select the interpolation method in CPoseInterpolatorBase derived classes. More...
 

Variables

template<size_t DOF>
struct BASE_IMPEXP mrpt::poses::SE_traits
 A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc. More...
 
template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SO_average
 Computes weighted and un-weighted averages of SO(2) or SO(3) orientations. More...
 
template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SE_average
 Computes weighted and un-weighted averages of SE(2) or SE(3) poses. More...
 

Enumeration Type Documentation

Type to select the interpolation method in CPoseInterpolatorBase derived classes.

  • imSpline: Spline interpolation using 4 points (2 before + 2 after the query point).
  • imLinear2Neig: Linear interpolation between the previous and next neightbour.
  • imLinear4Neig: Linear interpolation using the linear fit of the 4 closer points (2 before + 2 after the query point).
  • imSSLLLL : Use Spline for X and Y, and Linear Least squares for Z, yaw, pitch and roll.
  • imSSLSLL : Use Spline for X, Y and yaw, and Linear Lesat squares for Z, pitch and roll.
  • imLinearSlerp: Linear for X,Y,Z, Slerp for 3D angles.
  • imSplineSlerp: Spline for X,Y,Z, Slerp for 3D angles.
Enumerator
imSpline 
imLinear2Neig 
imLinear4Neig 
imSSLLLL 
imSSLSLL 
imLinearSlerp 
imSplineSlerp 

Definition at line 31 of file CPoseInterpolatorBase.h.

Variable Documentation

template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SE_average

Computes weighted and un-weighted averages of SE(2) or SE(3) poses.

See Also
SO_average, SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 29 of file SO_SE_average.h.

template<size_t DOF>
struct BASE_IMPEXP mrpt::poses::SE_traits

A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.

See Also
SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 27 of file SE_traits.h.

template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SO_average

Computes weighted and un-weighted averages of SO(2) or SO(3) orientations.

See Also
SE_average, SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 25 of file SO_SE_average.h.




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