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 19 of file TPose3DQuat.h.

#include <mrpt/math/TPose3DQuat.h>

Inheritance diagram for mrpt::math::TPose3DQuat:

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 double	operator[] (size_t i) const
	Coordinate access using operator[]. More...
double	norm () const
	Pose's spatial coordinates (x,y,z) 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...

Static Public Member Functions
static TPose3DQuat	FromString (const std::string &s)

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}

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 22 of file TPose3DQuat.h.

Constructor & Destructor Documentation

TPose3DQuat() [1/2]

constexpr 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 32 of file TPose3DQuat.h.

TPose3DQuat() [2/2]

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

default

Default fast constructor.

Initializes to identity transformation.

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 98 of file TPose3DQuat.h.

References mrpt::format(), qr, qx, qy, qz, x, y, and z.

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asString() [2/2]

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

inline

Definition at line 102 of file TPose3DQuat.h.

asVector()

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

inline

Gets the pose as a vector of doubles.

Definition at line 89 of file TPose3DQuat.h.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3DQuat >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

fromString()

void 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 20 of file TPose3DQuat.cpp.

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

Referenced by FromString().

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FromString()

static TPose3DQuat mrpt::math::TPose3DQuat::FromString ( const std::string &  s )

inlinestatic

Definition at line 116 of file TPose3DQuat.h.

References fromString().

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norm()

double TPose3DQuat::norm

(

)

const

Pose's spatial coordinates (x,y,z) norm.

Definition at line 30 of file TPose3DQuat.cpp.

References mrpt::square(), x, y, and z.

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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 41 of file TPose3DQuat.h.

References qr, qx, qy, qz, x, y, and z.

operator[]() [2/2]

constexpr 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 64 of file TPose3DQuat.h.

References qr, qx, qy, qz, x, y, and z.

resize()

void mrpt::math::internal::ProvideStaticResize< TPose3DQuat >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

References ASSERT_EQUAL_.

rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3DQuat >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3DQuat >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

Member Data Documentation

qr

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::vision::checkerBoardStereoCalibration(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().

qx

double mrpt::math::TPose3DQuat::qx {.0}

Definition at line 29 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().

qy

double mrpt::math::TPose3DQuat::qy {.0}

Definition at line 29 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().

qz

double mrpt::math::TPose3DQuat::qz {.0}

Definition at line 29 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), and operator[]().

x

double mrpt::math::TPose3DQuat::x {.0}

Translation in x,y,z.

Definition at line 27 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::poses::CPose3DQuat::CPose3DQuat(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), norm(), operator[](), and mrpt::vision::projectMatchedFeatures().

y

double mrpt::math::TPose3DQuat::y {.0}

Definition at line 27 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::poses::CPose3DQuat::CPose3DQuat(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), norm(), and operator[]().

z

double mrpt::math::TPose3DQuat::z {.0}

Definition at line 27 of file TPose3DQuat.h.

Referenced by asString(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::poses::CPose3DQuat::CPose3DQuat(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), norm(), and operator[]().