Detailed Description

A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle).

The 6D transformation in SE(3) stored in this class is kept in two separate containers: a 3-array for the rotation vector, and a 3-array for the translation.

CPose3DRotVec  pose;
pose.m_rotvec[{0:2}]=... // Rotation vector
pose.m_coords[{0:2}]=... // Translation

For a complete descriptionan of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial online.

There are Lie algebra methods: exp and ln (see the methods for documentation).

See also: CPose3DRotVec, CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 42 of file CPose3DRotVec.h.

#include <mrpt/poses/CPose3DRotVec.h>

Inheritance diagram for mrpt::poses::CPose3DRotVec:

Public Types
enum	{ is_3D_val = 1 }

enum	{ rotation_dimensions = 3 }

enum	{ is_PDF_val = 0 }

using	type_value = CPose3DRotVec
	Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

const type_value &	getPoseMean () const

type_value &	getPoseMean ()

void	setToNaN () override
	Set all data fields to quiet NaN. More...

const CPose3DRotVec &	derived () const

CPose3DRotVec &	derived ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Constructors
	CPose3DRotVec ()
	Default constructor, with all the coordinates set to zero. More...

	CPose3DRotVec (TConstructorFlags_Poses constructor_dummy_param)
	Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...

	CPose3DRotVec (const double vx, const double vy, const double vz, const double x, const double y, const double z)
	Constructor with initilization of the pose. More...

	CPose3DRotVec (const mrpt::math::CArrayDouble< 6 > &v)
	Constructor with initilization of the pose from a vector [w1 w2 w3 x y z]. More...

	CPose3DRotVec (const CPose3DRotVec &o)
	Copy constructor. More...

	CPose3DRotVec (const math::CMatrixDouble44 &m)
	Constructor from a 4x4 homogeneous matrix: More...

	CPose3DRotVec (const CPose3D &m)
	Constructor from a CPose3D object. More...

	CPose3DRotVec (const mrpt::math::CQuaternionDouble &q, const double x, const double y, const double z)
	Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement. More...

	CPose3DRotVec (const double *vec6)
	Constructor from an array with these 6 elements: [w1 w2 w3 x y z] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...

Access 3x3 rotation and 4x4 homogeneous matrices
void	getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getRotationMatrix (mrpt::math::CMatrixDouble33 &ROT) const
	Get the 3x3 rotation matrix. More...

const mrpt::math::CMatrixDouble33	getRotationMatrix () const

Pose-pose and pose-point compositions and operators
CPose3DRotVec	operator+ (const CPose3DRotVec &b) const
	The operator $a \oplus b$ is the pose compounding operator. More...

CPoint3D	operator+ (const CPoint3D &b) const
	The operator $a \oplus b$ is the pose compounding operator. More...

CPoint3D	operator+ (const CPoint2D &b) const
	The operator $a \oplus b$ is the pose compounding operator. More...

void	setFromTransformationMatrix (const mrpt::math::CMatrixDouble44 &m)

void	setFromXYZAndAngles (const double x, const double y, const double z, const double yaw=0, const double pitch=0, const double roll=0)

void	sphericalCoordinates (const mrpt::math::TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch) const
	Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. More...

void	composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > out_jacobian_df_dpose=nullptr) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose. More...

void	composePoint (const mrpt::math::TPoint3D local_point, mrpt::math::TPoint3D &global_point) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose. More...

void	inverseComposePoint (const double gx, const double gy, const double gz, double &lx, double &ly, double &lz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > out_jacobian_df_dpose=nullptr) const
	Computes the 3D point L such as $L = G \ominus this$ . More...

void	composeFrom (const CPose3DRotVec &A, const CPose3DRotVec &B, mrpt::math::CMatrixFixedNumeric< double, 6, 6 > out_jacobian_drvtC_drvtA=nullptr, mrpt::math::CMatrixFixedNumeric< double, 6, 6 > out_jacobian_drvtC_drvtB=nullptr)
	Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...

void	toQuatXYZ (CPose3DQuat &q) const
	Convert this RVT into a quaternion + XYZ. More...

CPose3DRotVec &	operator+= (const CPose3DRotVec &b)
	Make $this = this \oplus b$ (b can be "this" without problems) More...

CPose3DRotVec &	operator= (const CPose3DRotVec &o)
	Copy operator. More...

void	inverseComposeFrom (const CPose3DRotVec &A, const CPose3DRotVec &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...

CPose3DRotVec	operator- (const CPose3DRotVec &b) const
	Compute $RET = this \oplus b$ . More...

void	inverse ()
	Convert this pose into its inverse, saving the result in itself. More...

CPose3DRotVec	getInverse () const
	Compute the inverse of this pose and return the result. More...

void	changeCoordinatesReference (const CPose3DRotVec &p)
	makes: this = p (+) this More...

Access and modify contents
double	rx () const

double	ry () const

double	rz () const

double &	rx ()

double &	ry ()

double &	rz ()

void	addComponents (const CPose3DRotVec &p)
	Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. More...

void	operator*= (const double s)
	Scalar multiplication of x,y,z,vx,vy,vz. More...

mrpt::math::CArrayDouble< 3 >	rotVecFromRotMat (const math::CMatrixDouble44 &m)
	Create a vector with 3 components according to the input transformation matrix (only the rotation will be taken into account) More...

void	setFromValues (const double x0, const double y0, const double z0, const double vx, const double vy, const double vz)
	Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix. More...

template<class ARRAYORVECTOR >
void	setFrom6Vector (const ARRAYORVECTOR &vec6)
	Set pose from an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose. More...

template<class ARRAYORVECTOR >
void	getAs6Vector (ARRAYORVECTOR &vec6) const
	Gets pose as an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose The target vector MUST ALREADY have space for 6 elements (i.e. More...

template<class ARRAYORVECTOR >
void	getAsVector (ARRAYORVECTOR &v) const
	Like getAs6Vector() but for dynamic size vectors (required by base class CPoseOrPoint) More...

const double &	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object: "[x y z rx ry rz]". More...

std::string	asString () const

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
mrpt::math::CArrayDouble< 3 >	m_coords
	The translation vector [x,y,z]. More...

mrpt::math::CArrayDouble< 3 >	m_rotvec
	The rotation vector [vx,vy,vz]. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPose3DRotVec >

using	ConstPtr = std::shared_ptr< const CPose3DRotVec >

using	UniquePtr = std::unique_ptr< CPose3DRotVec >

using	ConstUniquePtr = std::unique_ptr< const CPose3DRotVec >

static mrpt::rtti::CLASSINIT	_init_CPose3DRotVec

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DRotVec"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Lie Algebra methods
static CPose3DRotVec	exp (const mrpt::math::CArrayDouble< 6 > &vect)
	Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3DRotVec (static method). More...

void	ln (mrpt::math::CArrayDouble< 6 > &out_ln) const
	Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE(3) Lie Algebra. More...

mrpt::math::CArrayDouble< 3 >	ln_rotation () const
	Take the logarithm of the 3x3 rotation matrix part of this pose, generating the corresponding vector in the Lie Algebra. More...

STL-like methods and typedefs

enum	{ static_size = 6 }

using	value_type = double
	The type of the elements. More...

using	reference = double &

using	const_reference = const double &

using	size_type = std::size_t

using	difference_type = std::ptrdiff_t

static constexpr size_type	size ()

static constexpr bool	empty ()

static constexpr size_type	max_size ()

static void	resize (const size_t n)

static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise. More...

double	x () const
	Common members of all points & poses classes. More...

double &	x ()

void	x (const double v)

double	y () const

double &	y ()

void	y (const double v)

void	x_incr (const double v)

void	y_incr (const double v)

double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the Euclidean distance to another pose/point: More...

double	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance to a 3D point: More...

double	distance2DToSquare (double ax, double ay) const
	Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DToSquare (double ax, double ay, double az) const
	Returns the squared 3D distance from this pose/point to a 3D point. More...

double	distance2DTo (double ax, double ay) const
	Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DTo (double ax, double ay, double az) const
	Returns the 3D distance from this pose/point to a 3D point. More...

double	norm () const
	Returns the euclidean norm of vector: $\|\|\mathbf{x}\|\| = \sqrt{x^2+y^2+z^2}$ . More...

mrpt::math::CVectorDouble	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

MATRIX44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

MATRIX44	getInverseHomogeneousMatrixVal () const

Member Typedef Documentation

◆ const_reference

using mrpt::poses::CPose3DRotVec::const_reference = const double&

Definition at line 518 of file CPose3DRotVec.h.

◆ ConstPtr

using mrpt::poses::CPose3DRotVec::ConstPtr = std::shared_ptr<const CPose3DRotVec >

Definition at line 45 of file CPose3DRotVec.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DRotVec::ConstUniquePtr = std::unique_ptr<const CPose3DRotVec >

Definition at line 45 of file CPose3DRotVec.h.

◆ difference_type

using mrpt::poses::CPose3DRotVec::difference_type = std::ptrdiff_t

Definition at line 520 of file CPose3DRotVec.h.

◆ Ptr

using mrpt::poses::CPose3DRotVec::Ptr = std::shared_ptr< CPose3DRotVec >

A type for the associated smart pointer

Definition at line 45 of file CPose3DRotVec.h.

◆ reference

using mrpt::poses::CPose3DRotVec::reference = double&

Definition at line 517 of file CPose3DRotVec.h.

◆ size_type

using mrpt::poses::CPose3DRotVec::size_type = std::size_t

Definition at line 519 of file CPose3DRotVec.h.

◆ type_value

using mrpt::poses::CPose3DRotVec::type_value = CPose3DRotVec

Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.

Definition at line 494 of file CPose3DRotVec.h.

◆ UniquePtr

using mrpt::poses::CPose3DRotVec::UniquePtr = std::unique_ptr< CPose3DRotVec >

Definition at line 45 of file CPose3DRotVec.h.

◆ value_type

using mrpt::poses::CPose3DRotVec::value_type = double

The type of the elements.

Definition at line 516 of file CPose3DRotVec.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 495 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 500 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 504 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 523 of file CPose3DRotVec.h.

Constructor & Destructor Documentation

◆ CPose3DRotVec() [1/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( )

inline

Default constructor, with all the coordinates set to zero.

Definition at line 57 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

Referenced by changeCoordinatesReference().

◆ CPose3DRotVec() [2/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( TConstructorFlags_Poses constructor_dummy_param )

inline

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 65 of file CPose3DRotVec.h.

References MRPT_UNUSED_PARAM.

◆ CPose3DRotVec() [3/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec	(	const double	vx,
		const double	vy,
		const double	vz,
		const double	x,
		const double	y,
		const double	z
	)

inline

Constructor with initilization of the pose.

Definition at line 72 of file CPose3DRotVec.h.

References m_coords, m_rotvec, mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x(), and mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y().

◆ CPose3DRotVec() [4/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const mrpt::math::CArrayDouble< 6 > & v )

inline

Constructor with initilization of the pose from a vector [w1 w2 w3 x y z].

Definition at line 86 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ CPose3DRotVec() [5/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const CPose3DRotVec & o )

inline

Copy constructor.

Definition at line 97 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ CPose3DRotVec() [6/9]

CPose3DRotVec::CPose3DRotVec ( const math::CMatrixDouble44 & m )

explicit

Constructor from a 4x4 homogeneous matrix:

Definition at line 34 of file CPose3DRotVec.cpp.

◆ CPose3DRotVec() [7/9]

CPose3DRotVec::CPose3DRotVec ( const CPose3D & m )

explicit

Constructor from a CPose3D object.

Definition at line 43 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::getHomogeneousMatrix(), R, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ CPose3DRotVec() [8/9]

CPose3DRotVec::CPose3DRotVec	(	const mrpt::math::CQuaternionDouble &	q,
		const double	_x,
		const double	_y,
		const double	_z
	)

Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement.

Definition at line 55 of file CPose3DRotVec.cpp.

References TH.

◆ CPose3DRotVec() [9/9]

mrpt::poses::CPose3DRotVec::CPose3DRotVec ( const double * vec6 )

inlineexplicit

Constructor from an array with these 6 elements: [w1 w2 w3 x y z] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

See also: setFrom12Vector, getAs12Vector

Definition at line 120 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DRotVec::_GetBaseClass ( )

staticprotected

◆ addComponents()

void mrpt::poses::CPose3DRotVec::addComponents ( const CPose3DRotVec & p )

inline

Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators.

Definition at line 320 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ asString() [1/2]

void mrpt::poses::CPose3DRotVec::asString ( std::string & s ) const

inline

Returns a human-readable textual representation of the object: "[x y z rx ry rz]".

See also: fromString

Definition at line 445 of file CPose3DRotVec.h.

References mrpt::format(), m_coords, and m_rotvec.

◆ asString() [2/2]

std::string mrpt::poses::CPose3DRotVec::asString ( ) const

inline

Definition at line 451 of file CPose3DRotVec.h.

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DRotVec::changeCoordinatesReference ( const CPose3DRotVec & p )

inline

makes: this = p (+) this

Definition at line 302 of file CPose3DRotVec.h.

References composeFrom(), and CPose3DRotVec().

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DRotVec::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ composeFrom()

void CPose3DRotVec::composeFrom	(	const CPose3DRotVec &	A,
		const CPose3DRotVec &	B,
		mrpt::math::CMatrixFixedNumeric< double, 6, 6 > *	out_jacobian_drvtC_drvtA = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< double, 6, 6 > *	out_jacobian_drvtC_drvtB = `nullptr`
	)

Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.

Note: A or B can be "this" without problems.

Definition at line 295 of file CPose3DRotVec.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, G, getRotationMatrix(), mrpt::poses::CPose3D::ln_rotation(), m_coords, mrpt::poses::CPose3DQuat::m_quat, m_rotvec, MRPT_MAX_ALIGN_BYTES, mrpt::poses::CPose3D::setRotationMatrix(), mrpt::math::skew_symmetric3(), mrpt::math::skew_symmetric3_neg(), toQuatXYZ(), and mrpt::poses::UNINITIALIZED_POSE.

Referenced by changeCoordinatesReference(), operator+(), and operator+=().

◆ composePoint() [1/2]

void CPose3DRotVec::composePoint	(	double	lx,
		double	ly,
		double	lz,
		double &	gx,
		double &	gy,
		double &	gz,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *	out_jacobian_df_dpose = `nullptr`
	)		const

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.

If pointers are provided, the corresponding Jacobians are returned. See this report for mathematical details.

Definition at line 165 of file CPose3DRotVec.cpp.

References MRPT_TODO, and THROW_EXCEPTION.

Referenced by composePoint(), and inverseComposePoint().

◆ composePoint() [2/2]

void mrpt::poses::CPose3DRotVec::composePoint	(	const mrpt::math::TPoint3D	local_point,
		mrpt::math::TPoint3D &	global_point
	)		const

inline

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.

Note: local_point is passed by value to allow global and local point to be the same variable

Definition at line 224 of file CPose3DRotVec.h.

References composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DRotVec::Create ( Args &&... args )

inlinestatic

Definition at line 45 of file CPose3DRotVec.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPose3DRotVec::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DRotVec::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 45 of file CPose3DRotVec.h.

◆ derived() [1/2]

const CPose3DRotVec & mrpt::poses::CPoseOrPoint< CPose3DRotVec >::derived ( ) const

inlineinherited

Definition at line 131 of file CPoseOrPoint.h.

◆ derived() [2/2]

CPose3DRotVec & mrpt::poses::CPoseOrPoint< CPose3DRotVec >::derived ( )

inlineinherited

Definition at line 135 of file CPoseOrPoint.h.

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distance2DTo	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 234 of file CPoseOrPoint.h.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distance2DToSquare	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 218 of file CPoseOrPoint.h.

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 240 of file CPoseOrPoint.h.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the squared 3D distance from this pose/point to a 3D point.

Definition at line 225 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 211 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 246 of file CPoseOrPoint.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

static constexpr bool mrpt::poses::CPose3DRotVec::empty ( )

inlinestatic

Definition at line 528 of file CPose3DRotVec.h.

◆ exp()

CPose3DRotVec CPose3DRotVec::exp ( const mrpt::math::CArrayDouble< 6 > & vect )

static

Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3DRotVec (static method).

Exponentiate a Vector in the SE3 Lie Algebra to generate a new CPose3DRotVec.

Definition at line 554 of file CPose3DRotVec.cpp.

◆ fromString()

void mrpt::poses::CPose3DRotVec::fromString ( const std::string & s )

inline

Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg.

)

See also: asString

Exceptions

std::exception On invalid format

Definition at line 463 of file CPose3DRotVec.h.

References ASSERTMSG_, m_coords, m_rotvec, and THROW_EXCEPTION.

◆ getAs6Vector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::getAs6Vector ( ARRAYORVECTOR & vec6 ) const

inline

Gets pose as an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose The target vector MUST ALREADY have space for 6 elements (i.e.

no .resize() method will be called).

See also: setAs6Vector, getAsVector

Definition at line 379 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

Referenced by getAsVector().

◆ getAsVector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::getAsVector ( ARRAYORVECTOR & v ) const

inline

Like getAs6Vector() but for dynamic size vectors (required by base class CPoseOrPoint)

Definition at line 392 of file CPose3DRotVec.h.

References getAs6Vector().

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose3DRotVec >::getAsVectorVal ( ) const

inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 263 of file CPoseOrPoint.h.

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DRotVec::getClassName ( )

inlinestatic

Definition at line 45 of file CPose3DRotVec.h.

◆ getHomogeneousMatrix()

void mrpt::poses::CPose3DRotVec::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

inline

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix, getRotationMatrix

Definition at line 139 of file CPose3DRotVec.h.

References getRotationMatrix(), and m_coords.

Referenced by inverseComposeFrom().

◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose3DRotVec >::getHomogeneousMatrixVal ( ) const

inlineinherited

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix

Definition at line 275 of file CPoseOrPoint.h.

◆ getInverse()

CPose3DRotVec CPose3DRotVec::getInverse ( ) const

Compute the inverse of this pose and return the result.

Definition at line 495 of file CPose3DRotVec.cpp.

References setFromTransformationMatrix(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::poses::UNINITIALIZED_POSE.

◆ getInverseHomogeneousMatrix()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::getInverseHomogeneousMatrix ( MATRIX44 & out_HM ) const

inlineinherited

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also: getHomogeneousMatrix

Definition at line 287 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose3DRotVec >::getInverseHomogeneousMatrixVal ( ) const

inlineinherited

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 295 of file CPoseOrPoint.h.

◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose3DRotVec::getPoseMean ( ) const

inline

Definition at line 509 of file CPose3DRotVec.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose3DRotVec::getPoseMean ( )

inline

Definition at line 510 of file CPose3DRotVec.h.

◆ getRotationMatrix() [1/2]

void CPose3DRotVec::getRotationMatrix ( mrpt::math::CMatrixDouble33 & ROT ) const

Get the 3x3 rotation matrix.

See also: getHomogeneousMatrix

Definition at line 127 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::exp_rotation().

Referenced by composeFrom().

◆ getRotationMatrix() [2/2]

const mrpt::math::CMatrixDouble33 mrpt::poses::CPose3DRotVec::getRotationMatrix ( ) 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 154 of file CPose3DRotVec.h.

References mrpt::math::UNINITIALIZED_MATRIX.

Referenced by getHomogeneousMatrix().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DRotVec::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DRotVec::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DRotVec::inverse ( )

Convert this pose into its inverse, saving the result in itself.

See also: operator-

Definition at line 487 of file CPose3DRotVec.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ inverseComposeFrom()

void CPose3DRotVec::inverseComposeFrom	(	const CPose3DRotVec &	A,
		const CPose3DRotVec &	B
	)

Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note: A or B can be "this" without problems.

See also: composeFrom, composePoint

Definition at line 510 of file CPose3DRotVec.cpp.

References getHomogeneousMatrix(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by operator-().

◆ inverseComposePoint()

void CPose3DRotVec::inverseComposePoint	(	const double	gx,
		const double	gy,
		const double	gz,
		double &	lx,
		double &	ly,
		double &	lz,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *	out_jacobian_df_dpose = `nullptr`
	)		const

Computes the 3D point L such as $L = G \ominus this$ .

If pointers are provided, the corresponding Jacobians are returned. See this report for mathematical details.

See also: composePoint, composeFrom; composePoint, composeFrom

Definition at line 538 of file CPose3DRotVec.cpp.

References composePoint(), MRPT_TODO, and MRPT_UNUSED_PARAM.

◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose3DRotVec >::is3DPoseOrPoint ( )

inlinestaticinherited

Return true for poses or points with a Z component, false otherwise.

Definition at line 177 of file CPoseOrPoint.h.

◆ is_3D()

static constexpr bool mrpt::poses::CPose3DRotVec::is_3D ( )

inlinestatic

Definition at line 499 of file CPose3DRotVec.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose3DRotVec::is_PDF ( )

inlinestatic

Definition at line 508 of file CPose3DRotVec.h.

References is_PDF_val.

◆ ln()

void CPose3DRotVec::ln ( mrpt::math::CArrayDouble< 6 > & out_ln ) const

Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE(3) Lie Algebra.

Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the SE3 Lie Algebra.

Definition at line 566 of file CPose3DRotVec.cpp.

◆ ln_rotation()

CArrayDouble< 3 > CPose3DRotVec::ln_rotation ( ) const

Take the logarithm of the 3x3 rotation matrix part of this pose, generating the corresponding vector in the Lie Algebra.

Take the logarithm of the 3x3 rotation matrix, generating the corresponding vector in the Lie Algebra.

Definition at line 562 of file CPose3DRotVec.cpp.

◆ max_size()

static constexpr size_type mrpt::poses::CPose3DRotVec::max_size ( )

inlinestatic

Definition at line 529 of file CPose3DRotVec.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::norm ( ) const

inlineinherited

Returns the euclidean norm of vector: $||\mathbf{x}|| = \sqrt{x^2+y^2+z^2}$ .

Definition at line 253 of file CPoseOrPoint.h.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DRotVec::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 45 of file CPose3DRotVec.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DRotVec::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 45 of file CPose3DRotVec.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DRotVec::operator delete ( void * ptr )

inlinenoexcept

Definition at line 45 of file CPose3DRotVec.h.

◆ operator delete[]()

void mrpt::poses::CPose3DRotVec::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 45 of file CPose3DRotVec.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DRotVec::operator new ( size_t size )

inline

Definition at line 45 of file CPose3DRotVec.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DRotVec::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 45 of file CPose3DRotVec.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPose3DRotVec::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 45 of file CPose3DRotVec.h.

◆ operator new[]()

void* mrpt::poses::CPose3DRotVec::operator new[] ( size_t size )

inline

Definition at line 45 of file CPose3DRotVec.h.

◆ operator*=()

void mrpt::poses::CPose3DRotVec::operator*= ( const double s )

inline

Scalar multiplication of x,y,z,vx,vy,vz.

Definition at line 327 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ operator+() [1/3]

CPose3DRotVec mrpt::poses::CPose3DRotVec::operator+ ( const CPose3DRotVec & b ) const

inline

The operator $a \oplus b$ is the pose compounding operator.

Definition at line 167 of file CPose3DRotVec.h.

References composeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator+() [2/3]

CPoint3D CPose3DRotVec::operator+ ( const CPoint3D & b ) const

The operator $a \oplus b$ is the pose compounding operator.

Definition at line 223 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoint3D::m_coords.

◆ operator+() [3/3]

CPoint3D CPose3DRotVec::operator+ ( const CPoint2D & b ) const

The operator $a \oplus b$ is the pose compounding operator.

Definition at line 237 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoint3D::m_coords.

◆ operator+=()

CPose3DRotVec& mrpt::poses::CPose3DRotVec::operator+= ( const CPose3DRotVec & b )

inline

Make $this = this \oplus b$ (b can be "this" without problems)

Definition at line 265 of file CPose3DRotVec.h.

References composeFrom().

◆ operator-()

CPose3DRotVec mrpt::poses::CPose3DRotVec::operator- ( const CPose3DRotVec & b ) const

inline

Compute $RET = this \oplus b$ .

Definition at line 287 of file CPose3DRotVec.h.

References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator=()

CPose3DRotVec& mrpt::poses::CPose3DRotVec::operator= ( const CPose3DRotVec & o )

inline

Copy operator.

Definition at line 272 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ operator[]() [1/2]

const double& mrpt::poses::CPose3DRotVec::operator[] ( unsigned int i ) const

inline

Definition at line 398 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ operator[]() [2/2]

double& mrpt::poses::CPose3DRotVec::operator[] ( unsigned int i )

inline

Definition at line 419 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ resize()

static void mrpt::poses::CPose3DRotVec::resize ( const size_t n )

inlinestatic

Definition at line 530 of file CPose3DRotVec.h.

References mrpt::format(), and static_size.

◆ rotVecFromRotMat()

CArrayDouble< 3 > CPose3DRotVec::rotVecFromRotMat ( const math::CMatrixDouble44 & m )

Create a vector with 3 components according to the input transformation matrix (only the rotation will be taken into account)

Definition at line 103 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::ln_rotation().

Referenced by setFromTransformationMatrix().

◆ rx() [1/2]

double mrpt::poses::CPose3DRotVec::rx ( ) const

inline

Definition at line 312 of file CPose3DRotVec.h.

References m_rotvec.

◆ rx() [2/2]

double& mrpt::poses::CPose3DRotVec::rx ( )

inline

Definition at line 315 of file CPose3DRotVec.h.

References m_rotvec.

◆ ry() [1/2]

double mrpt::poses::CPose3DRotVec::ry ( ) const

inline

Definition at line 313 of file CPose3DRotVec.h.

References m_rotvec.

◆ ry() [2/2]

double& mrpt::poses::CPose3DRotVec::ry ( )

inline

Definition at line 316 of file CPose3DRotVec.h.

References m_rotvec.

◆ rz() [1/2]

double mrpt::poses::CPose3DRotVec::rz ( ) const

inline

Definition at line 314 of file CPose3DRotVec.h.

References m_rotvec.

◆ rz() [2/2]

double& mrpt::poses::CPose3DRotVec::rz ( )

inline

Definition at line 317 of file CPose3DRotVec.h.

References m_rotvec.

◆ serializeFrom()

void CPose3DRotVec::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 76 of file CPose3DRotVec.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPose3DRotVec::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 70 of file CPose3DRotVec.cpp.

◆ serializeTo()

void CPose3DRotVec::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 71 of file CPose3DRotVec.cpp.

◆ setFrom6Vector()

template<class ARRAYORVECTOR >

void mrpt::poses::CPose3DRotVec::setFrom6Vector ( const ARRAYORVECTOR & vec6 )

inline

Set pose from an array with these 6 elements: [x y z vx vy vz] where v{xyz} is the rotation vector and {xyz} the 3D translation of the pose.

See also: getAs6Vector

Definition at line 361 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ setFromTransformationMatrix()

void mrpt::poses::CPose3DRotVec::setFromTransformationMatrix ( const mrpt::math::CMatrixDouble44 & m )

inline

Definition at line 180 of file CPose3DRotVec.h.

References rotVecFromRotMat().

Referenced by getInverse().

◆ setFromValues()

void mrpt::poses::CPose3DRotVec::setFromValues	(	const double	x0,
		const double	y0,
		const double	z0,
		const double	vx,
		const double	vy,
		const double	vz
	)

inline

Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix.

See also: getYawPitchRoll, setYawPitchRoll

Definition at line 343 of file CPose3DRotVec.h.

References m_coords, and m_rotvec.

◆ setFromXYZAndAngles()

void CPose3DRotVec::setFromXYZAndAngles	(	const double	x,
		const double	y,
		const double	z,
		const double	yaw = `0`,
		const double	pitch = `0`,
		const double	roll = `0`
	)

Definition at line 92 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3D::ln_rotation(), mrpt::poses::CPose3D::m_coords, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

Referenced by Pose3DRotVecTests::test_compose().

◆ setToNaN()

void CPose3DRotVec::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose3DRotVec >.

Definition at line 572 of file CPose3DRotVec.cpp.

◆ size()

static constexpr size_type mrpt::poses::CPose3DRotVec::size ( )

inlinestatic

Definition at line 527 of file CPose3DRotVec.h.

References static_size.

◆ sphericalCoordinates()

void CPose3DRotVec::sphericalCoordinates	(	const mrpt::math::TPoint3D &	point,
		double &	out_range,
		double &	out_yaw,
		double &	out_pitch
	)		const

Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.

For the coordinate system see mrpt::poses::CPose3D

Definition at line 137 of file CPose3DRotVec.cpp.

References local, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 184 of file CPoseOrPoint.h.

◆ toQuatXYZ()

void CPose3DRotVec::toQuatXYZ ( CPose3DQuat & q ) const

Convert this RVT into a quaternion + XYZ.

Definition at line 248 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoint3D::m_coords.

Referenced by composeFrom().

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 68 of file CSerializable.h.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 140 of file CPoseOrPoint.h.

Referenced by CPose3DRotVec().

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( )

inlineinherited

Definition at line 149 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 158 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 167 of file CPoseOrPoint.h.

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 144 of file CPoseOrPoint.h.

Referenced by CPose3DRotVec().

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( )

inlineinherited

Definition at line 153 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 162 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 171 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose3DRotVec

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DRotVec::_init_CPose3DRotVec

staticprotected

Definition at line 45 of file CPose3DRotVec.h.

◆ className

constexpr const char* mrpt::poses::CPose3DRotVec::className = "CPose3DRotVec"

static

Definition at line 45 of file CPose3DRotVec.h.

◆ m_coords

mrpt::math::CArrayDouble<3> mrpt::poses::CPose3DRotVec::m_coords

The translation vector [x,y,z].

Definition at line 49 of file CPose3DRotVec.h.

Referenced by addComponents(), asString(), composeFrom(), CPose3DRotVec(), fromString(), getAs6Vector(), getHomogeneousMatrix(), mrpt::poses::operator!=(), operator*=(), operator=(), mrpt::poses::operator==(), operator[](), setFrom6Vector(), and setFromValues().

◆ m_rotvec

mrpt::math::CArrayDouble<3> mrpt::poses::CPose3DRotVec::m_rotvec

The rotation vector [vx,vy,vz].

Definition at line 51 of file CPose3DRotVec.h.

Referenced by addComponents(), asString(), composeFrom(), mrpt::poses::CPose3D::CPose3D(), CPose3DRotVec(), fromString(), getAs6Vector(), mrpt::poses::operator!=(), operator*=(), operator=(), mrpt::poses::operator==(), operator[](), rx(), ry(), rz(), setFrom6Vector(), and setFromValues().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DRotVec::runtimeClassId

staticprotected

Definition at line 45 of file CPose3DRotVec.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Lie Algebra methods

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ type_value

◆ UniquePtr

◆ value_type

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DRotVec() [1/9]

◆ CPose3DRotVec() [2/9]

◆ CPose3DRotVec() [3/9]

◆ CPose3DRotVec() [4/9]

◆ CPose3DRotVec() [5/9]

◆ CPose3DRotVec() [6/9]

◆ CPose3DRotVec() [7/9]

◆ CPose3DRotVec() [8/9]

◆ CPose3DRotVec() [9/9]

Member Function Documentation

◆ _GetBaseClass()

◆ addComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ changeCoordinatesReference()

◆ clone()

◆ composeFrom()

◆ composePoint() [1/2]

◆ composePoint() [2/2]

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ derived() [1/2]

◆ derived() [2/2]

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ exp()

◆ fromString()

◆ getAs6Vector()

◆ getAsVector()

◆ getAsVectorVal()

◆ getClassName()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverse()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ getRotationMatrix() [1/2]

◆ getRotationMatrix() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ inverseComposeFrom()

◆ inverseComposePoint()

◆ is3DPoseOrPoint()

◆ is_3D()