MRPT
1.9.9
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Lightweight 3D pose (three spatial coordinates, plus a quaternion ).
Allows coordinate access using [] operator.
Definition at line 19 of file TPose3DQuat.h.
#include <mrpt/math/TPose3DQuat.h>
Public Types | |
enum | { static_size = 7 } |
Public Member Functions | |
constexpr | TPose3DQuat (double _x, double _y, double _z, double _qr, double _qx, double _qy, double _qz) |
Constructor from coordinates. More... | |
TPose3DQuat ()=default | |
Default fast constructor. More... | |
double & | operator[] (size_t i) |
Coordinate access using operator[]. More... | |
constexpr const double & | operator[] (size_t i) const |
Coordinate access using operator[]. More... | |
double | norm () const |
Pose's spatial coordinates norm. More... | |
void | asVector (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... | |
constexpr std::size_t | rows () const |
constexpr std::size_t | cols () const |
constexpr std::size_t | size () const |
void | resize (std::size_t n) |
throws if attempted to resize to incorrect length More... | |
Public Attributes | |
double | x {.0} |
Translation in x,y,z. More... | |
double | y {.0} |
double | z {.0} |
double | qr {1.} |
Unit quaternion part, qr,qx,qy,qz. More... | |
double | qx {.0} |
double | qy {.0} |
double | qz {.0} |
anonymous enum |
Enumerator | |
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static_size |
Definition at line 22 of file TPose3DQuat.h.
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inline |
Constructor from coordinates.
Definition at line 32 of file TPose3DQuat.h.
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default |
Default fast constructor.
Initializes to identity transformation.
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inline |
Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".
Definition at line 98 of file TPose3DQuat.h.
References mrpt::format(), qr, qx, qy, and qz.
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inline |
Definition at line 102 of file TPose3DQuat.h.
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inline |
Gets the pose as a vector of doubles.
Definition at line 89 of file TPose3DQuat.h.
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inlineinherited |
Definition at line 57 of file TPoseOrPoint.h.
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]" )
std::exception | On invalid format |
Definition at line 497 of file TPoseOrPoint.cpp.
References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION.
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inline |
Pose's spatial coordinates norm.
Definition at line 87 of file TPose3DQuat.h.
References mrpt::square().
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inline |
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inline |
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inlineinherited |
throws if attempted to resize to incorrect length
Definition at line 61 of file TPoseOrPoint.h.
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inlineinherited |
Definition at line 56 of file TPoseOrPoint.h.
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inlineinherited |
Definition at line 58 of file TPoseOrPoint.h.
double mrpt::math::TPose3DQuat::qr {1.} |
Unit quaternion part, qr,qx,qy,qz.
Definition at line 29 of file TPose3DQuat.h.
Referenced by asString(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
double mrpt::math::TPose3DQuat::qx {.0} |
Definition at line 29 of file TPose3DQuat.h.
Referenced by asString(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
double mrpt::math::TPose3DQuat::qy {.0} |
Definition at line 29 of file TPose3DQuat.h.
Referenced by asString(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
double mrpt::math::TPose3DQuat::qz {.0} |
Definition at line 29 of file TPose3DQuat.h.
Referenced by asString(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
double mrpt::math::TPose3DQuat::x {.0} |
Translation in x,y,z.
Definition at line 27 of file TPose3DQuat.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), operator[](), and mrpt::vision::projectMatchedFeatures().
double mrpt::math::TPose3DQuat::y {.0} |
Definition at line 27 of file TPose3DQuat.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
double mrpt::math::TPose3DQuat::z {.0} |
Definition at line 27 of file TPose3DQuat.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().
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