Detailed Description

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

Allows coordinate access using [] operator.

See also: mrpt::poses::CPose3D

Definition at line 603 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPose3D:

Public Types
enum	{ static_size = 6 }

Public Member Functions
	TPose3D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...

	TPose3D (const TPose2D &p)
	Implicit constructor from TPose2D. More...

	TPose3D (const TPoint3D &p)
	Implicit constructor from TPoint3D. More...

constexpr	TPose3D (double _x, double _y, double _z, double _yaw, double _pitch, double _roll)
	Constructor from coordinates. More...

	TPose3D ()
	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	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 (eg: "[x y z yaw pitch roll]", angles in degrees.) More...

std::string	asString () const

void	getAsQuaternion (mrpt::math::CQuaternion< double > &q, mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *out_dq_dr=NULL) const
	Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored) $\mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right)$ With : $\phi = roll$ , $\theta = pitch$ and $\psi = yaw$ . More...

void	composePoint (const TPoint3D l, TPoint3D &g) const

void	inverseComposePoint (const TPoint3D g, TPoint3D &l) const

void	composePose (const TPose3D other, TPose3D &result) const

void	getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const

void	getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &HG) const

void	getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &HG) const

void	fromHomogeneousMatrix (const mrpt::math::CMatrixDouble44 &HG)

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) More...

Static Public Member Functions
static void	SO3_to_yaw_pitch_roll (const mrpt::math::CMatrixDouble33 &R, double &yaw, double &pitch, double &roll)

static size_t	size ()

Public Attributes
double	x
	X,Y,Z, coords. More...

double	y

double	z

double	yaw
	Yaw coordinate (rotation angle over Z axis). More...

double	pitch
	Pitch coordinate (rotation angle over Y axis). More...

double	roll
	Roll coordinate (rotation angle over X coordinate). More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 605 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

◆ TPose3D() [1/5]

mrpt::math::TPose3D::TPose3D ( const TPoint2D & p )

Implicit constructor from TPoint2D.

Zeroes all the unprovided information.

See also: TPoint2D

Definition at line 200 of file lightweight_geom_data.cpp.

◆ TPose3D() [2/5]

mrpt::math::TPose3D::TPose3D ( const TPose2D & p )

Implicit constructor from TPose2D.

Gets the yaw from the 2D pose's phi, zeroing all the unprovided information.

See also: TPose2D

Definition at line 204 of file lightweight_geom_data.cpp.

◆ TPose3D() [3/5]

mrpt::math::TPose3D::TPose3D ( const TPoint3D & p )

Implicit constructor from TPoint3D.

Zeroes angular information.

See also: TPoint3D

Definition at line 208 of file lightweight_geom_data.cpp.

◆ TPose3D() [4/5]

constexpr mrpt::math::TPose3D::TPose3D	(	double	_x,
		double	_y,
		double	_z,
		double	_yaw,
		double	_pitch,
		double	_roll
	)

inline

Constructor from coordinates.

Definition at line 636 of file lightweight_geom_data.h.

◆ TPose3D() [5/5]

mrpt::math::TPose3D::TPose3D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 645 of file lightweight_geom_data.h.

Member Function Documentation

◆ asString() [1/2]

void mrpt::math::TPose3D::asString ( std::string & s ) const

Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.)

See also: fromString

Definition at line 212 of file lightweight_geom_data.cpp.

References mrpt::format(), pitch, mrpt::RAD2DEG(), roll, and yaw.

Referenced by TEST().

◆ asString() [2/2]

std::string mrpt::math::TPose3D::asString ( ) const

inline

Definition at line 710 of file lightweight_geom_data.h.

◆ composePoint()

void mrpt::math::TPose3D::composePoint	(	const TPoint3D	l,
		TPoint3D &	g
	)		const

Definition at line 256 of file lightweight_geom_data.cpp.

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

Referenced by mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::math::project3D(), and unsafeProjectPoint().

◆ composePose()

void mrpt::math::TPose3D::composePose	(	const TPose3D	other,
		TPose3D &	result
	)		const

Definition at line 369 of file lightweight_geom_data.cpp.

References fromHomogeneousMatrix(), and getHomogeneousMatrix().

◆ fromHomogeneousMatrix()

void mrpt::math::TPose3D::fromHomogeneousMatrix ( const mrpt::math::CMatrixDouble44 & HG )

Definition at line 362 of file lightweight_geom_data.cpp.

References pitch, roll, SO3_to_yaw_pitch_roll(), and yaw.

Referenced by composePose(), mrpt::math::TPolygon3D::contains(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::TPlane::getAsPose3DForcingOrigin(), mrpt::math::intersect(), mrpt::math::operator-(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

◆ fromString()

void mrpt::math::TPose3D::fromString ( const std::string & s )

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

See also: asString

Exceptions

std::exception On invalid format

Definition at line 393 of file lightweight_geom_data.cpp.

References ASSERTMSG_, mrpt::DEG2RAD(), pitch, roll, THROW_EXCEPTION, and yaw.

◆ getAsQuaternion()

void mrpt::math::TPose3D::getAsQuaternion	(	mrpt::math::CQuaternion< double > &	q,
		mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *	out_dq_dr = `NULL`
	)		const

Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored)

$\mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right)$

With : $\phi = roll$ , $\theta = pitch$ and $\psi = yaw$ .

Parameters

out_dq_dr If provided, the 4x3 Jacobian of the transformation will be computed and stored here. It's the Jacobian of the transformation from (yaw pitch roll) to (qr qx qy qz).

Definition at line 218 of file lightweight_geom_data.cpp.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), MRPT_MAX_ALIGN_BYTES, pitch, roll, and yaw.

Referenced by mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::slerp(), and mrpt::math::slerp_ypr().