mrpt::math::TPose3DQuat Struct Reference

Detailed Description

Lightweight 3D pose (three spatial coordinates, plus a quaternion ).

Allows coordinate access using [] operator.

See also

mrpt::poses::CPose3DQuat

Definition at line 483 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 7 }

Public Member Functions
	TPose3DQuat (double _x, double _y, double _z, double _qr, double _qx, double _qy, double _qz)
	Constructor from coordinates. More...
	TPose3DQuat ()
	Default fast constructor. More...
	TPose3DQuat (const mrpt::poses::CPose3DQuat &p)
	Constructor from a CPose3DQuat. 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 as "[x y z qr qx qy qz]". More...
std::string	asString () const
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
double	y
double	z
	Translation in x,y,z. More...
double	qr
double	qx
double	qy
double	qz
	Unit quaternion part, qr,qx,qy,qz. More...

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 484 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

TPose3DQuat() [1/3]

mrpt::math::TPose3DQuat::TPose3DQuat ( double  _x, double  _y, double  _z, double  _qr, double  _qx, double  _qy, double  _qz  )

inline

Constructor from coordinates.

Definition at line 489 of file lightweight_geom_data.h.

TPose3DQuat() [2/3]

mrpt::math::TPose3DQuat::TPose3DQuat ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 491 of file lightweight_geom_data.h.

TPose3DQuat() [3/3]

mrpt::math::TPose3DQuat::TPose3DQuat

(

const mrpt::poses::CPose3DQuat &

p

)

Constructor from a CPose3DQuat.

Definition at line 242 of file lightweight_geom_data.cpp.

Member Function Documentation

asString() [1/2]

void mrpt::math::TPose3DQuat::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".

See also

fromString

Definition at line 511 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

asString() [2/2]

std::string mrpt::math::TPose3DQuat::asString ( ) const

inline

Definition at line 512 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

fromString()

void mrpt::math::TPose3DQuat::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" )

See also

asString

Exceptions

std::exception

On invalid format

Definition at line 245 of file lightweight_geom_data.cpp.

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

getAsVector()

void mrpt::math::TPose3DQuat::getAsVector ( std::vector< double > &  v ) const

inline

Gets the pose as a vector of doubles.

Definition at line 504 of file lightweight_geom_data.h.

norm()

double mrpt::math::TPose3DQuat::norm ( ) const

inline

Pose's spatial coordinates norm.

Definition at line 500 of file lightweight_geom_data.h.

References mrpt::math::square().

operator[]() [1/2]

double& mrpt::math::TPose3DQuat::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y,z,qr,qx,qy,qz

Definition at line 496 of file lightweight_geom_data.h.

operator[]() [2/2]

const double& mrpt::math::TPose3DQuat::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y,z,qr,qx,qy,qz

Definition at line 498 of file lightweight_geom_data.h.

size()

static size_t mrpt::math::TPose3DQuat::size ( )

inlinestatic

Definition at line 519 of file lightweight_geom_data.h.

Member Data Documentation

qr

double mrpt::math::TPose3DQuat::qr

Definition at line 486 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

qx

double mrpt::math::TPose3DQuat::qx

Definition at line 486 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

qy

double mrpt::math::TPose3DQuat::qy

Definition at line 486 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

qz

double mrpt::math::TPose3DQuat::qz

Unit quaternion part, qr,qx,qy,qz.

Definition at line 486 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

x

double mrpt::math::TPose3DQuat::x

Definition at line 485 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

y

double mrpt::math::TPose3DQuat::y

Definition at line 485 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().

z

double mrpt::math::TPose3DQuat::z

Translation in x,y,z.

Definition at line 485 of file lightweight_geom_data.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream().