mrpt::math::TTwist3D Struct Reference

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 18 of file TTwist3D.h.

#include <mrpt/math/TTwist3D.h>

Inheritance diagram for mrpt::math::TTwist3D:

Public Types
enum	{ static_size = 6 }

Public Member Functions
constexpr	TTwist3D (double vx_, double vy_, double vz_, double wx_, double wy_, double wz_)
	Constructor from components. More...
	TTwist3D ()=default
	Default fast constructor. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
constexpr const double &	operator[] (size_t i) const
double &	operator() (int row, int col)
	(i,0) access operator (provided for API compatibility with matrices). More...
constexpr const double &	operator() (int row, int col) const
template<typename VECTORLIKE >
void	asVector (VECTORLIKE &v) const
	Transformation into vector [vx vy vz wx wy wz]. More...
template<typename VECTORLIKE >
VECTORLIKE	asVector () const
template<typename VECTORLIKE >
void	fromVector (const VECTORLIKE &v)
	Sets from a vector [vx vy vz wx wy wz]. 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::math::TPose3D &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...
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	vx {.0}
	Velocity components: X,Y (m/s) More...
double	vy {.0}
double	vz {.0}
double	wx {.0}
	Angular velocity (rad/s) More...
double	wy {.0}
double	wz {.0}

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 20 of file TTwist3D.h.

Constructor & Destructor Documentation

TTwist3D() [1/2]

constexpr mrpt::math::TTwist3D::TTwist3D ( double  vx_, double  vy_, double  vz_, double  wx_, double  wy_, double  wz_  )

inline

Constructor from components.

Definition at line 31 of file TTwist3D.h.

TTwist3D() [2/2]

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

default

Default fast constructor.

Initializes to zeros

Member Function Documentation

asString() [1/2]

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 191 of file TPoseOrPoint.cpp.

References mrpt::format(), mrpt::RAD2DEG(), vx, vy, vz, wx, wy, and wz.

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asString() [2/2]

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

inline

Definition at line 124 of file TTwist3D.h.

asVector() [1/2]

template<typename VECTORLIKE >

void mrpt::math::TTwist3D::asVector ( VECTORLIKE &  v ) const

inline

Transformation into vector [vx vy vz wx wy wz].

Definition at line 97 of file TTwist3D.h.

asVector() [2/2]

template<typename VECTORLIKE >

VECTORLIKE mrpt::math::TTwist3D::asVector ( ) const

inline

Definition at line 103 of file TTwist3D.h.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::cols ( ) const

inlineinherited

Definition at line 57 of file TPoseOrPoint.h.

fromString()

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::exception

On invalid format

Definition at line 197 of file TPoseOrPoint.cpp.

References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION.

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fromVector()

template<typename VECTORLIKE >

void mrpt::math::TTwist3D::fromVector ( const VECTORLIKE &  v )

inline

Sets from a vector [vx vy vz wx wy wz].

Definition at line 112 of file TTwist3D.h.

References ASSERT_EQUAL_.

operator!=()

bool mrpt::math::TTwist3D::operator!=

(

const TTwist3D &

o

)

const

Definition at line 228 of file TPoseOrPoint.cpp.

operator()() [1/2]

double& mrpt::math::TTwist3D::operator() ( int  row, int  col  )

inline

(i,0) access operator (provided for API compatibility with matrices).

See also

operator[]

Definition at line 83 of file TTwist3D.h.

References ASSERT_EQUAL_.

operator()() [2/2]

constexpr const double& mrpt::math::TTwist3D::operator() ( int  row, int  col  ) 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 89 of file TTwist3D.h.

References ASSERT_EQUAL_.

operator==()

bool mrpt::math::TTwist3D::operator==

(

const TTwist3D &

o

)

const

Definition at line 223 of file TPoseOrPoint.cpp.

References vx, vy, vz, wx, wy, and wz.

operator[]() [1/2]

double& mrpt::math::TTwist3D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: vx,vy,vz, wx, wy, wz

Definition at line 39 of file TTwist3D.h.

References vx, vy, vz, wx, wy, and wz.

operator[]() [2/2]

constexpr const double& mrpt::math::TTwist3D::operator[] ( size_t  i ) 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 60 of file TTwist3D.h.

References vx, vy, vz, wx, wy, and wz.

resize()

void mrpt::math::internal::ProvideStaticResize< TTwist3D >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 61 of file TPoseOrPoint.h.

rotate()

void mrpt::math::TTwist3D::rotate

(

const mrpt::math::TPose3D &

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 210 of file TPoseOrPoint.cpp.

References mrpt::math::TPose3D::getRotationMatrix(), R, vx, vy, vz, wx, wy, and wz.

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rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::rows ( ) const

inlineinherited

Definition at line 56 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::size ( ) const

inlineinherited

Definition at line 58 of file TPoseOrPoint.h.

Member Data Documentation

vx

double mrpt::math::TTwist3D::vx {.0}

Velocity components: X,Y (m/s)

Definition at line 26 of file TTwist3D.h.

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

vy

double mrpt::math::TTwist3D::vy {.0}

Definition at line 26 of file TTwist3D.h.

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

vz

double mrpt::math::TTwist3D::vz {.0}

Definition at line 26 of file TTwist3D.h.

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

wx

double mrpt::math::TTwist3D::wx {.0}

Angular velocity (rad/s)

Definition at line 28 of file TTwist3D.h.

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

wy

double mrpt::math::TTwist3D::wy {.0}

Definition at line 28 of file TTwist3D.h.

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

wz

double mrpt::math::TTwist3D::wz {.0}

Definition at line 28 of file TTwist3D.h.

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