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 765 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.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 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 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...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	Translation in x,y,z. More...
double	y
double	z
double	qr
	Unit quaternion part, qr,qx,qy,qz. More...
double	qx
double	qy
double	qz

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 767 of file lightweight_geom_data.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 777 of file lightweight_geom_data.h.

TPose3DQuat() [2/2]

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

inline

Default fast constructor.

Initializes to garbage.

Definition at line 784 of file lightweight_geom_data.h.

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 843 of file lightweight_geom_data.h.

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

asString() [2/2]

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

inline

Definition at line 847 of file lightweight_geom_data.h.

fromString()

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]" )

See also

asString

Exceptions

std::exception

On invalid format

Definition at line 408 of file lightweight_geom_data.cpp.

References ASSERTMSG_, and THROW_EXCEPTION.

getAsVector()

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

inline

Gets the pose as a vector of doubles.

Definition at line 834 of file lightweight_geom_data.h.

norm()

double mrpt::math::TPose3DQuat::norm ( ) const

inline

Pose's spatial coordinates norm.

Definition at line 832 of file lightweight_geom_data.h.

References mrpt::square().

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 786 of file lightweight_geom_data.h.

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

operator[]() [2/2]

constexpr const 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 809 of file lightweight_geom_data.h.

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

size()

static size_t mrpt::math::TPose3DQuat::size ( )

inlinestatic

Definition at line 860 of file lightweight_geom_data.h.

Member Data Documentation

qr

double mrpt::math::TPose3DQuat::qr

Unit quaternion part, qr,qx,qy,qz.

Definition at line 774 of file lightweight_geom_data.h.

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

qx

double mrpt::math::TPose3DQuat::qx

Definition at line 774 of file lightweight_geom_data.h.

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

qy

double mrpt::math::TPose3DQuat::qy

Definition at line 774 of file lightweight_geom_data.h.

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

qz

double mrpt::math::TPose3DQuat::qz

Definition at line 774 of file lightweight_geom_data.h.

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

x

double mrpt::math::TPose3DQuat::x

Translation in x,y,z.

Definition at line 772 of file lightweight_geom_data.h.

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

y

double mrpt::math::TPose3DQuat::y

Definition at line 772 of file lightweight_geom_data.h.

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

z

double mrpt::math::TPose3DQuat::z

Definition at line 772 of file lightweight_geom_data.h.

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