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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 406 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types

enum  { static_size = 6 }
 

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)
 Coordinate access using operator[]. More...
 
const double & operator[] (size_t i) const
 Coordinate access using operator[]. More...
 
double norm () const
 Pose's spatial coordinates norm. More...
 
void getAsVector (std::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 getAsQuaternion (mrpt::math::CQuaternion< double > &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...

 
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
 
double y
 
double z
 X,Y,Z, coords. 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...
 

Member Enumeration Documentation

anonymous enum
Enumerator
static_size 

Definition at line 407 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

mrpt::math::TPose3D::TPose3D ( const TPoint2D p)

Implicit constructor from TPoint2D.

Zeroes all the unprovided information.

See Also
TPoint2D

Definition at line 187 of file lightweight_geom_data.cpp.

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

Definition at line 188 of file lightweight_geom_data.cpp.

mrpt::math::TPose3D::TPose3D ( const TPoint3D p)

Implicit constructor from TPoint3D.

Zeroes angular information.

See Also
TPoint3D

Definition at line 189 of file lightweight_geom_data.cpp.

mrpt::math::TPose3D::TPose3D ( const mrpt::poses::CPose3D p)

Implicit constructor from heavyweight type.

See Also
mrpt::poses::CPose3D

Definition at line 190 of file lightweight_geom_data.cpp.

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

Constructor from coordinates.

Definition at line 434 of file lightweight_geom_data.h.

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

Default fast constructor.

Initializes to garbage.

Definition at line 438 of file lightweight_geom_data.h.

Member Function Documentation

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

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 191 of file lightweight_geom_data.cpp.

References mrpt::mrpt::format(), pitch, RAD2DEG, roll, and yaw.

Referenced by TEST().

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

Definition at line 460 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

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::exceptionOn invalid format

Definition at line 229 of file lightweight_geom_data.cpp.

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

void mrpt::math::TPose3D::getAsQuaternion ( mrpt::math::CQuaternion< double > &  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 194 of file lightweight_geom_data.cpp.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), MRPT_ALIGN16, pitch, roll, and yaw.

Referenced by mrpt::poses::CPose3D::getAsQuaternion(), and mrpt::math::slerp_ypr().

void mrpt::math::TPose3D::getAsVector ( std::vector< double > &  v) const
inline

Gets the pose as a vector of doubles.

Definition at line 452 of file lightweight_geom_data.h.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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

Pose's spatial coordinates norm.

Definition at line 446 of file lightweight_geom_data.h.

References mrpt::math::square().

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

Coordinate access using operator[].

Order: x,y,z,yaw,pitch,roll

Definition at line 440 of file lightweight_geom_data.h.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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

Coordinate access using operator[].

Order: x,y,z,yaw,pitch,roll

Definition at line 442 of file lightweight_geom_data.h.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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

Member Data Documentation

double mrpt::math::TPose3D::pitch
double mrpt::math::TPose3D::roll
double mrpt::math::TPose3D::x
double mrpt::math::TPose3D::y
double mrpt::math::TPose3D::yaw
double mrpt::math::TPose3D::z



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