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
◆ TInterpolatorMethod
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
◆ SE_average
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.
◆ SE_traits
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.
◆ SO_average
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.