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List of all members | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes

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
Enumerator
static_size 

Definition at line 1667 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

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.

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

Default fast constructor.

Initializes to garbage

Definition at line 1674 of file lightweight_geom_data.h.

Member Function Documentation

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.

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

Definition at line 1690 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

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::exceptionOn invalid format

Definition at line 135 of file lightweight_geom_data.cpp.

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

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

Transformation into vector.

Definition at line 1680 of file lightweight_geom_data.h.

bool mrpt::math::TTwist3D::operator!= ( const TTwist3D o) const

Definition at line 161 of file lightweight_geom_data.cpp.

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.

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.

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.

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.

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

double mrpt::math::TTwist3D::vx

Definition at line 1668 of file lightweight_geom_data.h.

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

double mrpt::math::TTwist3D::vy

Definition at line 1668 of file lightweight_geom_data.h.

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

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().

double mrpt::math::TTwist3D::wx

Definition at line 1669 of file lightweight_geom_data.h.

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

double mrpt::math::TTwist3D::wy

Definition at line 1669 of file lightweight_geom_data.h.

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

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().




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