Detailed Description

A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle).

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

CPose3DRotVec  pose;
pose.m_rotvec[{0:2}]=... // Rotation vector
pose.m_coords[{0:2}]=... // Translation

For a complete descriptionan of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial online.

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

See also: CPose3DRotVec, CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 41 of file CPose3DRotVec.h.

#include <mrpt/poses/CPose3DRotVec.h>

Inheritance diagram for mrpt::poses::CPose3DRotVec:

Public Types
enum	{ is_3D_val = 1 }

enum	{ rotation_dimensions = 3 }

enum	{ is_PDF_val = 0 }

typedef CPose3DRotVec	type_value
	Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

const type_value &	getPoseMean () const

type_value &	getPoseMean ()

void	setToNaN () MRPT_OVERRIDE
	Set all data fields to quiet NaN. More...

virtual mxArray *	writeToMatlab () 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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Constructors
	CPose3DRotVec ()
	Default constructor, with all the coordinates set to zero. More...

	CPose3DRotVec (TConstructorFlags_Poses constructor_dummy_param)
	Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...

	CPose3DRotVec (const double vx, const double vy, const double vz, const double x, const double y, const double z)
	Constructor with initilization of the pose. More...

	CPose3DRotVec (const mrpt::math::CArrayDouble< 6 > &v)
	Constructor with initilization of the pose from a vector [w1 w2 w3 x y z]. More...

	CPose3DRotVec (const CPose3DRotVec &o)
	Copy constructor. More...

	CPose3DRotVec (const math::CMatrixDouble44 &m)
	Constructor from a 4x4 homogeneous matrix: More...

	CPose3DRotVec (const CPose3D &m)
	Constructor from a CPose3D object. More...

	CPose3DRotVec (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...

	CPose3DRotVec (const double *vec6)
	Constructor from an array with these 6 elements: [w1 w2 w3 x y z] 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::CMatrixDouble33	getRotationMatrix () const

Pose-pose and pose-point compositions and operators
CPose3DRotVec	operator+ (const CPose3DRotVec &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	setFromTransformationMatrix (const mrpt::math::CMatrixDouble44 &m)

void	setFromXYZAndAngles (const double x, const double y, const double z, const double yaw=0, const double pitch=0, const double roll=0)

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) 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	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) const
	Computes the 3D point L such as $L = G \ominus this$ . More...

void	composeFrom (const CPose3DRotVec &A, const CPose3DRotVec &B, mrpt::math::CMatrixFixedNumeric< double, 6, 6 > out_jacobian_drvtC_drvtA=NULL, mrpt::math::CMatrixFixedNumeric< double, 6, 6 > out_jacobian_drvtC_drvtB=NULL)
	Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...

void	toQuatXYZ (CPose3DQuat &q) const
	Convert this RVT into a quaternion + XYZ. More...

CPose3DRotVec &	operator+= (const CPose3DRotVec &b)
	Make $this = this \oplus b$ (b can be "this" without problems) More...

CPose3DRotVec &	operator= (const CPose3DRotVec &o)
	Copy operator. More...

void	inverseComposeFrom (const CPose3DRotVec &A, const CPose3DRotVec &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...

CPose3DRotVec	operator- (const CPose3DRotVec &b) const
	Compute $RET = this \oplus b$ . More...

void	inverse ()
	Convert this pose into its inverse, saving the result in itself. More...

CPose3DRotVec	getInverse () const
	Compute the inverse of this pose and return the result. More...

void	changeCoordinatesReference (const CPose3DRotVec &p)
	makes: this = p (+) this More...

Access and modify contents
double	rx () const

double	ry () const

double	rz () const

double &	rx ()

double &	ry ()

double &	rz ()

void	addComponents (const CPose3DRotVec &p)
	Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. More...

void	operator*= (const double s)
	Scalar multiplication of x,y,z,vx,vy,vz. More...

mrpt::math::CArrayDouble< 3 >	rotVecFromRotMat (const math::CMatrixDouble44 &m)
	Create a vector with 3 components according to the input transformation matrix (only the rotation will be taken into account) More...

void	setFromValues (const double x0, const double y0, const double z0, const double vx, const double vy, const double vz)
	Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix. More...

template<class ARRAYORVECTOR >
void	setFrom6Vector (const ARRAYORVECTOR &vec6)
	Set pose from an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose. More...

template<class ARRAYORVECTOR >
void	getAs6Vector (ARRAYORVECTOR &vec6) const
	Gets pose as an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose The target vector MUST ALREADY have space for 6 elements (i.e. More...

template<class ARRAYORVECTOR >
void	getAsVector (ARRAYORVECTOR &v) const
	Like getAs6Vector() but for dynamic size vectors (required by base class CPoseOrPoint) More...

const double &	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object: "[x y z rx ry rz]". 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...

RTTI classes and functions
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...

Static Public Member Functions
static void *	operator 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]. More...

mrpt::math::CArrayDouble< 3 >	m_rotvec
	The rotation vector [vx,vy,vz]. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

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

Protected Member Functions
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...

RTTI stuff
typedef CPose3DRotVecPtr	Ptr

typedef CPose3DRotVecPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPose3DRotVec

static mrpt::utils::TRuntimeClassId	classCPose3DRotVec

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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CPose3DRotVecPtr	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< 3 >	ln_rotation () const
	Take the logarithm of the 3x3 rotation matrix part of this pose, generating the corresponding vector in the Lie Algebra. More...

static CPose3DRotVec	exp (const mrpt::math::CArrayDouble< 6 > &vect)
	Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3DRotVec (static method). 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

◆ const_reference

typedef const double& mrpt::poses::CPose3DRotVec::const_reference

Definition at line 394 of file CPose3DRotVec.h.

◆ ConstPtr

typedef CPose3DRotVecPtr mrpt::poses::CPose3DRotVec::ConstPtr

Definition at line 44 of file CPose3DRotVec.h.

◆ difference_type

typedef std::ptrdiff_t mrpt::poses::CPose3DRotVec::difference_type

Definition at line 396 of file CPose3DRotVec.h.

◆ Ptr

typedef CPose3DRotVecPtr mrpt::poses::CPose3DRotVec::Ptr

A typedef for the associated smart pointer

Definition at line 44 of file CPose3DRotVec.h.

◆ reference

typedef double& mrpt::poses::CPose3DRotVec::reference

Definition at line 393 of file CPose3DRotVec.h.

◆ size_type

typedef std::size_t mrpt::poses::CPose3DRotVec::size_type

Definition at line 395 of file CPose3DRotVec.h.

◆ type_value

typedef CPose3DRotVec mrpt::poses::CPose3DRotVec::type_value

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

Definition at line 378 of file CPose3DRotVec.h.

◆ value_type

typedef double mrpt::poses::CPose3DRotVec::value_type

The type of the elements.

Definition at line 392 of file CPose3DRotVec.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 379 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 381 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 382 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 400 of file CPose3DRotVec.h.

Constructor & Destructor Documentation

◆ CPose3DRotVec() [1/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( )

inline

Default constructor, with all the coordinates set to zero.

Definition at line 54 of file CPose3DRotVec.h.

◆ CPose3DRotVec() [2/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( TConstructorFlags_Poses constructor_dummy_param )

inline

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

Definition at line 60 of file CPose3DRotVec.h.

References MRPT_UNUSED_PARAM.

◆ CPose3DRotVec() [3/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec	(	const double	vx,
		const double	vy,
		const double	vz,
		const double	x,
		const double	y,
		const double	z
	)

inline

Constructor with initilization of the pose.

Definition at line 65 of file CPose3DRotVec.h.

◆ CPose3DRotVec() [4/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const mrpt::math::CArrayDouble< 6 > & v )

inline

Constructor with initilization of the pose from a vector [w1 w2 w3 x y z].

Definition at line 71 of file CPose3DRotVec.h.

◆ CPose3DRotVec() [5/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const CPose3DRotVec & o )

inline

Copy constructor.

Definition at line 77 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ CPose3DRotVec() [6/9]

CPose3DRotVec::CPose3DRotVec ( const math::CMatrixDouble44 & m )

explicit

Constructor from a 4x4 homogeneous matrix:

Definition at line 35 of file CPose3DRotVec.cpp.

◆ CPose3DRotVec() [7/9]

CPose3DRotVec::CPose3DRotVec ( const CPose3D & m )

explicit

Constructor from a CPose3D object.

Definition at line 44 of file CPose3DRotVec.cpp.

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

◆ CPose3DRotVec() [8/9]

CPose3DRotVec::CPose3DRotVec	(	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 55 of file CPose3DRotVec.cpp.

◆ CPose3DRotVec() [9/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const double * vec6 )

inlineexplicit

Constructor from an array with these 6 elements: [w1 w2 w3 x y z] 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 96 of file CPose3DRotVec.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DRotVec::_GetBaseClass ( )

staticprotected

◆ addComponents()

void mrpt::poses::CPose3DRotVec::addComponents ( const CPose3DRotVec & p )

inline

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

Definition at line 257 of file CPose3DRotVec.h.

◆ asString() [1/2]

void mrpt::poses::CPose3DRotVec::asString ( std::string & s ) const

inline

Returns a human-readable textual representation of the object: "[x y z rx ry rz]".

See also: fromString

Definition at line 346 of file CPose3DRotVec.h.

References mrpt::mrpt::format().

◆ asString() [2/2]

std::string mrpt::poses::CPose3DRotVec::asString ( ) const

inline

Definition at line 347 of file CPose3DRotVec.h.

References asString().

Referenced by asString().

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DRotVec::changeCoordinatesReference ( const CPose3DRotVec & p )

inline

makes: this = p (+) this

Definition at line 240 of file CPose3DRotVec.h.

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ composeFrom()

void CPose3DRotVec::composeFrom	(	const CPose3DRotVec &	A,
		const CPose3DRotVec &	B,
		mrpt::math::CMatrixFixedNumeric< double, 6, 6 > *	out_jacobian_drvtC_drvtA = `NULL`,
		mrpt::math::CMatrixFixedNumeric< double, 6, 6 > *	out_jacobian_drvtC_drvtB = `NULL`
	)

Makes "this = A (+) 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.

Definition at line 293 of file CPose3DRotVec.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, getRotationMatrix(), mrpt::poses::CPose3D::ln_rotation(), m_coords, mrpt::poses::CPose3DQuat::m_quat, m_rotvec, MRPT_ALIGN16, mrpt::poses::CPose3D::setRotationMatrix(), mrpt::math::skew_symmetric3(), mrpt::math::skew_symmetric3_neg(), toQuatXYZ(), and mrpt::poses::UNINITIALIZED_POSE.

Referenced by operator+().

◆ composePoint() [1/2]

void CPose3DRotVec::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`
	)		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. See this report for mathematical details.

Definition at line 166 of file CPose3DRotVec.cpp.

References MRPT_TODO, and THROW_EXCEPTION.

Referenced by inverseComposePoint().

◆ composePoint() [2/2]

void mrpt::poses::CPose3DRotVec::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 178 of file CPose3DRotVec.h.

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

◆ Create()

static CPose3DRotVecPtr mrpt::poses::CPose3DRotVec::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DRotVec::CreateObject ( )

static

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DRotVec::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ empty()

static bool mrpt::poses::CPose3DRotVec::empty ( )

inlinestatic

Definition at line 402 of file CPose3DRotVec.h.

◆ exp()

CPose3DRotVec CPose3DRotVec::exp ( const mrpt::math::CArrayDouble< 6 > & vect )

static

Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3DRotVec (static method).

Exponentiate a Vector in the SE3 Lie Algebra to generate a new CPose3DRotVec.

Definition at line 536 of file CPose3DRotVec.cpp.

◆ fromString()

void mrpt::poses::CPose3DRotVec::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::exception On invalid format

Definition at line 353 of file CPose3DRotVec.h.

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

◆ getAs6Vector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::getAs6Vector ( ARRAYORVECTOR & vec6 ) const

inline

Gets pose as an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose The target vector MUST ALREADY have space for 6 elements (i.e.

no .resize() method will be called).

See also: setAs6Vector, getAsVector

Definition at line 304 of file CPose3DRotVec.h.

◆ getAsVector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::getAsVector ( ARRAYORVECTOR & v ) const

inline

Like getAs6Vector() but for dynamic size vectors (required by base class CPoseOrPoint)

Definition at line 312 of file CPose3DRotVec.h.

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ getHomogeneousMatrix()

void mrpt::poses::CPose3DRotVec::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

inline

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix, getRotationMatrix

Definition at line 110 of file CPose3DRotVec.h.

Referenced by inverseComposeFrom().

◆ getHomogeneousMatrixVal()

mrpt::math::CMatrixDouble44 mrpt::poses::CPose3DRotVec::getHomogeneousMatrixVal ( ) const

inline

Definition at line 118 of file CPose3DRotVec.h.

Referenced by Pose3DRotVecTests::test_compose().

◆ getInverse()

CPose3DRotVec CPose3DRotVec::getInverse ( ) const

Compute the inverse of this pose and return the result.

Definition at line 482 of file CPose3DRotVec.cpp.

References setFromTransformationMatrix(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::poses::UNINITIALIZED_POSE.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose3DRotVec::getPoseMean ( ) const

inline

Definition at line 385 of file CPose3DRotVec.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose3DRotVec::getPoseMean ( )

inline

Definition at line 386 of file CPose3DRotVec.h.

◆ getRotationMatrix() [1/2]

void CPose3DRotVec::getRotationMatrix ( mrpt::math::CMatrixDouble33 & ROT ) const

Get the 3x3 rotation matrix.

See also: getHomogeneousMatrix

Definition at line 129 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::exp_rotation().

Referenced by composeFrom().

◆ getRotationMatrix() [2/2]

const mrpt::math::CMatrixDouble33 mrpt::poses::CPose3DRotVec::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 123 of file CPose3DRotVec.h.

References getRotationMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by getRotationMatrix().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DRotVec::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ inverse()

void CPose3DRotVec::inverse ( )

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

See also: operator-

Definition at line 474 of file CPose3DRotVec.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ inverseComposeFrom()

void CPose3DRotVec::inverseComposeFrom	(	const CPose3DRotVec &	A,
		const CPose3DRotVec &	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 496 of file CPose3DRotVec.cpp.

References getHomogeneousMatrix(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by operator-().

◆ inverseComposePoint()

void CPose3DRotVec::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`
	)		const

Computes the 3D point L such as $L = G \ominus this$ .

If pointers are provided, the corresponding Jacobians are returned. See this report for mathematical details.

See also: composePoint, composeFrom; composePoint, composeFrom

Definition at line 524 of file CPose3DRotVec.cpp.

References composePoint(), MRPT_TODO, and MRPT_UNUSED_PARAM.

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose3DRotVec >::is3DPoseOrPoint ( )

inlinestaticinherited

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

Definition at line 127 of file CPoseOrPoint.h.

◆ is_3D()

static bool mrpt::poses::CPose3DRotVec::is_3D ( )

inlinestatic

Definition at line 380 of file CPose3DRotVec.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DRotVec::is_PDF ( )

inlinestatic

Definition at line 383 of file CPose3DRotVec.h.

◆ ln()

void CPose3DRotVec::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.

Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE3 Lie Algebra.

Definition at line 551 of file CPose3DRotVec.cpp.

◆ ln_rotation()

CArrayDouble< 3 > CPose3DRotVec::ln_rotation ( ) const

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

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

Definition at line 543 of file CPose3DRotVec.cpp.

◆ max_size()

static size_type mrpt::poses::CPose3DRotVec::max_size ( )

inlinestatic

Definition at line 403 of file CPose3DRotVec.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::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.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DRotVec::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DRotVec::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DRotVec::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator delete[]()

void mrpt::poses::CPose3DRotVec::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose3DRotVec::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 44 of file CPose3DRotVec.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DRotVec::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DRotVec::operator new ( size_t size )

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator new[]()

void* mrpt::poses::CPose3DRotVec::operator new[] ( size_t size )

inline

Definition at line 44 of file CPose3DRotVec.h.

◆ operator*=()

void mrpt::poses::CPose3DRotVec::operator*= ( const double s )

inline

Scalar multiplication of x,y,z,vx,vy,vz.

Definition at line 263 of file CPose3DRotVec.h.

◆ operator+() [1/3]

CPose3DRotVec mrpt::poses::CPose3DRotVec::operator+ ( const CPose3DRotVec & b ) const

inline

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

Definition at line 132 of file CPose3DRotVec.h.

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

◆ operator+() [2/3]

CPoint3D CPose3DRotVec::operator+ ( const CPoint3D & b ) const

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

Definition at line 220 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoint3D::m_coords.

◆ operator+() [3/3]

CPoint3D CPose3DRotVec::operator+ ( const CPoint2D & b ) const

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

Definition at line 235 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoint3D::m_coords.

◆ operator+=()

CPose3DRotVec& mrpt::poses::CPose3DRotVec::operator+= ( const CPose3DRotVec & b )

inline

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

Definition at line 205 of file CPose3DRotVec.h.

◆ operator-()

CPose3DRotVec mrpt::poses::CPose3DRotVec::operator- ( const CPose3DRotVec & b ) const

inline

Compute $RET = this \oplus b$ .

Definition at line 226 of file CPose3DRotVec.h.

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

◆ operator=()

CPose3DRotVec& mrpt::poses::CPose3DRotVec::operator= ( const CPose3DRotVec & o )

inline

Copy operator.

Definition at line 212 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ operator[]() [1/2]

const double& mrpt::poses::CPose3DRotVec::operator[] ( unsigned int i ) const

inline

Definition at line 314 of file CPose3DRotVec.h.

◆ operator[]() [2/2]

double& mrpt::poses::CPose3DRotVec::operator[] ( unsigned int i )

inline

Definition at line 328 of file CPose3DRotVec.h.

◆ readFromStream()

void CPose3DRotVec::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

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 84 of file CPose3DRotVec.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ resize()

static void mrpt::poses::CPose3DRotVec::resize ( const size_t n )

inlinestatic

Definition at line 404 of file CPose3DRotVec.h.

References mrpt::format(), and static_size.

◆ rotVecFromRotMat()

CArrayDouble< 3 > CPose3DRotVec::rotVecFromRotMat ( const math::CMatrixDouble44 & m )

Create a vector with 3 components according to the input transformation matrix (only the rotation will be taken into account)

Definition at line 106 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::ln_rotation().

◆ rx() [1/2]

double mrpt::poses::CPose3DRotVec::rx ( ) const

inline

Definition at line 248 of file CPose3DRotVec.h.

◆ rx() [2/2]

double& mrpt::poses::CPose3DRotVec::rx ( )

inline

Definition at line 252 of file CPose3DRotVec.h.

◆ ry() [1/2]

double mrpt::poses::CPose3DRotVec::ry ( ) const

inline

Definition at line 249 of file CPose3DRotVec.h.

◆ ry() [2/2]

double& mrpt::poses::CPose3DRotVec::ry ( )

inline

Definition at line 253 of file CPose3DRotVec.h.

◆ rz() [1/2]

double mrpt::poses::CPose3DRotVec::rz ( ) const

inline

Definition at line 250 of file CPose3DRotVec.h.

◆ rz() [2/2]

double& mrpt::poses::CPose3DRotVec::rz ( )

inline

Definition at line 254 of file CPose3DRotVec.h.

◆ setFrom6Vector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::setFrom6Vector ( const ARRAYORVECTOR & vec6 )

inline

Set pose from an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose.

See also: getAs6Vector

Definition at line 292 of file CPose3DRotVec.h.

◆ setFromTransformationMatrix()

void mrpt::poses::CPose3DRotVec::setFromTransformationMatrix ( const mrpt::math::CMatrixDouble44 & m )

inline

Definition at line 145 of file CPose3DRotVec.h.

Referenced by getInverse().

◆ setFromValues()

void mrpt::poses::CPose3DRotVec::setFromValues	(	const double	x0,
		const double	y0,
		const double	z0,
		const double	vx,
		const double	vy,
		const double	vz
	)

inline

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 275 of file CPose3DRotVec.h.

◆ setFromXYZAndAngles()

void CPose3DRotVec::setFromXYZAndAngles	(	const double	x,
		const double	y,
		const double	z,
		const double	yaw = `0`,
		const double	pitch = `0`,
		const double	roll = `0`
	)

Definition at line 97 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::ln_rotation(), mrpt::poses::CPose3D::m_coords, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

Referenced by Pose3DRotVecTests::test_compose().

◆ setToNaN()

void CPose3DRotVec::setToNaN ( )

virtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose3DRotVec >.

Definition at line 557 of file CPose3DRotVec.cpp.

◆ size()

static size_type mrpt::poses::CPose3DRotVec::size ( )

inlinestatic

Definition at line 401 of file CPose3DRotVec.h.

References static_size.

◆ sphericalCoordinates()

void CPose3DRotVec::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 mrpt::poses::CPose3D

Definition at line 139 of file CPose3DRotVec.cpp.

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

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 130 of file CPoseOrPoint.h.

◆ toQuatXYZ()

void CPose3DRotVec::toQuatXYZ ( CPose3DQuat & q ) const

Convert this RVT into a quaternion + XYZ.

Definition at line 250 of file CPose3DRotVec.cpp.

Referenced by composeFrom().

◆ writeToMatlab()

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.

◆ writeToStream()

void CPose3DRotVec::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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 70 of file CPose3DRotVec.cpp.

References version.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( )

inlineinherited

Definition at line 116 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 119 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 122 of file CPoseOrPoint.h.

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( )

inlineinherited

Definition at line 117 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 120 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 123 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose3DRotVec

mrpt::utils::CLASSINIT mrpt::poses::CPose3DRotVec::_init_CPose3DRotVec

staticprotected

Definition at line 44 of file CPose3DRotVec.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCPose3DRotVec

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DRotVec::classCPose3DRotVec

static

Definition at line 44 of file CPose3DRotVec.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DRotVec::classinfo

static

Definition at line 44 of file CPose3DRotVec.h.

◆ m_coords

mrpt::math::CArrayDouble<3> mrpt::poses::CPose3DRotVec::m_coords

The translation vector [x,y,z].

Definition at line 47 of file CPose3DRotVec.h.

Referenced by composeFrom(), CPose3DRotVec(), mrpt::poses::operator!=(), operator=(), and mrpt::poses::operator==().

◆ m_rotvec

mrpt::math::CArrayDouble<3> mrpt::poses::CPose3DRotVec::m_rotvec

The rotation vector [vx,vy,vz].

Definition at line 48 of file CPose3DRotVec.h.

Referenced by composeFrom(), mrpt::poses::CPose3D::CPose3D(), CPose3DRotVec(), mrpt::poses::operator!=(), operator=(), and mrpt::poses::operator==().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Lie Algebra methods

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ ConstPtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ type_value

◆ value_type

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DRotVec() [1/9]

◆ CPose3DRotVec() [2/9]

◆ CPose3DRotVec() [3/9]

◆ CPose3DRotVec() [4/9]

◆ CPose3DRotVec() [5/9]

◆ CPose3DRotVec() [6/9]

◆ CPose3DRotVec() [7/9]

◆ CPose3DRotVec() [8/9]

◆ CPose3DRotVec() [9/9]

Member Function Documentation

◆ _GetBaseClass()

◆ addComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ changeCoordinatesReference()

◆ clone()

◆ composeFrom()

◆ composePoint() [1/2]

◆ composePoint() [2/2]

◆ Create()

◆ CreateObject()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ empty()

◆ exp()

◆ fromString()

◆ getAs6Vector()

◆ getAsVector()

◆ getAsVectorVal()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverse()

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ getRotationMatrix() [1/2]

◆ getRotationMatrix() [2/2]

◆ GetRuntimeClass()

◆ inverse()

◆ inverseComposeFrom()

◆ inverseComposePoint()

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ ln()

◆ ln_rotation()

◆ max_size()

◆ norm()