Main MRPT website > C++ reference
mrpt::poses::CPose3D Class Reference

## Detailed Description

A class used to store a 3D pose (a 3D translation + a rotation in 3D).

The 6D transformation in SE(3) stored in this class is kept in two separate containers: a 3-array for the translation, and a 3x3 rotation matrix.

This class allows parameterizing 6D poses as a 6-vector: [x y z yaw pitch roll] (read below for the angles convention). Note however, that the yaw/pitch/roll angles are only computed (on-demand and transparently) when the user requests them. Normally, rotations and transformations are always handled via the 3x3 rotation matrix.

Yaw/Pitch/Roll angles are defined as successive rotations around local (dynamic) axes in the Z/Y/X order: It may be extremely confusing and annoying to find a different criterion also involving the names "yaw, pitch, roll" but regarding rotations around global (static) axes. Fortunately, it's very easy to see (by writing down the product of the three rotation matrices) that both conventions lead to exactly the same numbers. Only, that it's conventional to write the numbers in reverse order. That is, the same rotation can be described equivalently with any of these two parameterizations:

• In local axes Z/Y/X convention: [yaw pitch roll] (This is the convention used in mrpt::poses::CPose3D)
• In global axes X/Y/Z convention: [roll pitch yaw] (One of the Euler angles conventions)

For further descriptions of point & pose classes, see mrpt::poses::CPoseOrPoint or refer to the 2D/3D Geometry tutorial online.

To change the individual components of the pose, use CPose3D::setFromValues. This class assures that the internal 3x3 rotation matrix is always up-to-date with the "yaw pitch roll" members.

Rotations in 3D can be also represented by quaternions. See mrpt::math::CQuaternion, and method CPose3D::getAsQuaternion.

This class and CPose3DQuat are very similar, and they can be converted to the each other automatically via transformation constructors.

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

Note
Read also: "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", Jose-Luis Blanco. http://mapir.isa.uma.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 71 of file CPose3D.h.

#include <mrpt/poses/CPose3D.h>

Inheritance diagram for mrpt::poses::CPose3D: [legend]

## Public Types

enum  { is_3D_val = 1 }

enum  { rotation_dimensions = 3 }

enum  { is_PDF_val = 0 }

typedef CPose3D type_value
Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...

## Public Member Functions

const type_valuegetPoseMean () const

type_valuegetPoseMean ()

mrpt::utils::CObjectPtr 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...

CObject * clone () const
Cloning interface for smart pointers. More...

Constructors
CPose3D ()
Default constructor, with all the coordinates set to zero. More...

CPose3D (const double x, const double y, const double z, const double yaw=0, const double pitch=0, const double roll=0)
Constructor with initilization of the pose; (remember that angles are always given in radians!) More...

CPose3D (const math::CMatrixDouble &m)
Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed). More...

CPose3D (const math::CMatrixDouble44 &m)
Constructor from a 4x4 homogeneous matrix: More...

template<class MATRIX33 , class VECTOR3 >
CPose3D (const MATRIX33 &rot, const VECTOR3 &xyz)
Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a TPoint3D. More...

CPose3D (const CMatrixDouble33 &rot, const CArrayDouble< 3 > &xyz)

CPose3D (const CPose2D &)
Constructor from a CPose2D object. More...

CPose3D (const CPoint3D &)
Constructor from a CPoint3D object. More...

CPose3D (const mrpt::math::TPose3D &)
Constructor from lightweight object. More...

CPose3D (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...

CPose3D (const CPose3DQuat &)
Constructor from a CPose3DQuat. More...

CPose3D (const CPose3DRotVec &p)
Constructor from a CPose3DRotVec. More...

CPose3D (TConstructorFlags_Poses constructor_dummy_param)
Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...

CPose3D (const CArrayDouble< 12 > &vec12)
Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] 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 (CMatrixDouble44 &out_HM) const
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

CMatrixDouble44 getHomogeneousMatrixVal () const

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

const mrpt::math::CMatrixDouble33getRotationMatrix () const

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

Pose-pose and pose-point compositions and operators
CPose3D operator+ (const CPose3D &b) const
The operator is the pose compounding operator. More...

CPoint3D operator+ (const CPoint3D &b) const
The operator is the pose compounding operator. More...

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

void sphericalCoordinates (const 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=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dpose=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=NULL, bool use_small_rot_approx=false) const
An alternative, slightly more efficient way of doing with G and L being 3D points and P this 6D pose. More...

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

void composePoint (const TPoint3D local_point, TPoint2D &global_point) const
This version of the method assumes that the resulting point has no Z component (use with caution!) More...

void composePoint (double lx, double ly, double lz, float &gx, float &gy, float &gz) const
An alternative, slightly more efficient way of doing 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=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dpose=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=NULL) const
Computes the 3D point L such as . More...

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

void inverseComposePoint (const mrpt::math::TPoint2D &g, mrpt::math::TPoint2D &l, const double eps=1e-6) const

void composeFrom (const CPose3D &A, const CPose3D &B)
Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...

CPose3Doperator+= (const CPose3D &b)
Make (b can be "this" without problems) More...

void inverseComposeFrom (const CPose3D &A, const CPose3D &B)
Makes this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...

CPose3D operator- (const CPose3D &b) const
Compute . More...

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

void changeCoordinatesReference (const CPose3D &p)
makes: this = p (+) this More...

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

void normalizeAngles ()
Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents) More...

void operator*= (const double s)
Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval). More...

void setFromValues (const double x0, const double y0, const double z0, const double yaw=0, const double pitch=0, const double roll=0)
Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal rotation matrix. More...

template<typename VECTORLIKE >
void setFromXYZQ (const VECTORLIKE &v, const size_t index_offset=0)
Set the pose from a 3D position (meters) and a quaternion, stored as [x y z qr qx qy qz] in a 7-element vector. More...

void setYawPitchRoll (const double yaw_, const double pitch_, const double roll_)
Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinates matrix. More...

template<class ARRAYORVECTOR >
void setFrom12Vector (const ARRAYORVECTOR &vec12)
Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...

template<class ARRAYORVECTOR >
void getAs12Vector (ARRAYORVECTOR &vec12) const
Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...

void getYawPitchRoll (double &yaw, double &pitch, double &roll) const
Returns the three angles (yaw, pitch, roll), in radians, from the rotation matrix. More...

double yaw () const
Get the YAW angle (in radians) More...

double pitch () const
Get the PITCH angle (in radians) More...

double roll () const
Get the ROLL angle (in radians) More...

void getAsVector (vector_double &v) const
Returns a 1x6 vector with [x y z yaw pitch roll]. More...

void getAsVector (mrpt::math::CArrayDouble< 6 > &v) const

void getAsQuaternion (mrpt::math::CQuaternionDouble &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) With : , and . More...

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

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 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...

bool isHorizontal (const double tolerance=0) const
Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested). More...

double distanceEuclidean6D (const CPose3D &o) const
The euclidean distance between two poses taken as two 6-length vectors (angles in radians). More...

## Static Public Member Functions

static bool is_3D ()

static bool is_PDF ()

## Public Attributes

CArrayDouble< 3 > m_coords
The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods. More...

## Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable

## Protected Member Functions

void rebuildRotationMatrix ()
Rebuild the homog matrix from the angles. More...

void updateYawPitchRoll () const
Updates Yaw/pitch/roll members from the m_ROT. More...

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream. More...

void readFromStream (mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

## Protected Attributes

CMatrixDouble33 m_ROT
The 3x3 rotation matrix, access with getRotationMatrix(), setRotationMatrix() (It's not safe to set this field as public) More...

bool m_ypr_uptodate
Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update. More...

double m_yaw

double m_pitch

double m_roll
These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc ) More...

## RTTI stuff

typedef CPose3DPtr SmartPtr

static mrpt::utils::CLASSINIT _init_CPose3D

static mrpt::utils::TRuntimeClassId classCPose3D

static const mrpt::utils::TRuntimeClassIdclassinfo

static const mrpt::utils::TRuntimeClassId_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObjectduplicate () const
Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObjectCreateObject ()

static CPose3DPtr Create ()

## Lie Algebra methods

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< 6 > ln () const

void ln_jacob (mrpt::math::CMatrixFixedNumeric< double, 6, 12 > &J) const
Jacobian of the logarithm of the 3x4 matrix defined by this pose. More...

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

static CPose3D exp (const mrpt::math::CArrayNumeric< double, 6 > &vect, bool pseudo_exponential=false)
Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3D (static method). More...

static void exp (const mrpt::math::CArrayNumeric< double, 6 > &vect, CPose3D &out_pose, bool pseudo_exponential=false)

static CMatrixDouble33 exp_rotation (const mrpt::math::CArrayNumeric< double, 3 > &vect)
Exponentiate a vector in the Lie algebra to generate a new SO(3) (a 3x3 rotation matrix). More...

static void ln_rot_jacob (const CMatrixDouble33 &R, CMatrixFixedNumeric< double, 3, 9 > &M)
Static function to compute the Jacobian of the SO(3) Logarithm function, evaluated at a given 3x3 rotation matrix R. More...

## STL-like methods and typedefs

enum  { static_size = 6 }

typedef double value_type
The type of the elements. More...

typedef double & reference

typedef const double & const_reference

typedef std::size_t size_type

typedef std::ptrdiff_t difference_type

static size_type size ()

static bool empty ()

static size_type max_size ()

static void resize (const size_t n)

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: . More...

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

void getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const

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

## ◆ const_reference

 typedef const double& mrpt::poses::CPose3D::const_reference

Definition at line 508 of file CPose3D.h.

## ◆ difference_type

 typedef std::ptrdiff_t mrpt::poses::CPose3D::difference_type

Definition at line 510 of file CPose3D.h.

## ◆ reference

 typedef double& mrpt::poses::CPose3D::reference

Definition at line 507 of file CPose3D.h.

## ◆ size_type

 typedef std::size_t mrpt::poses::CPose3D::size_type

Definition at line 509 of file CPose3D.h.

## ◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 74 of file CPose3D.h.

## ◆ type_value

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

Definition at line 494 of file CPose3D.h.

## ◆ value_type

 typedef double mrpt::poses::CPose3D::value_type

The type of the elements.

Definition at line 506 of file CPose3D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
is_3D_val

Definition at line 495 of file CPose3D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
rotation_dimensions

Definition at line 497 of file CPose3D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
is_PDF_val

Definition at line 498 of file CPose3D.h.

## ◆ anonymous enum

 anonymous enum
Enumerator
static_size

Definition at line 514 of file CPose3D.h.

## ◆ CPose3D() [1/14]

 mrpt::poses::CPose3D::CPose3D ( )

Default constructor, with all the coordinates set to zero.

## ◆ CPose3D() [2/14]

 mrpt::poses::CPose3D::CPose3D ( const double x, const double y, const double z, const double yaw = 0, const double pitch = 0, const double roll = 0 )

Constructor with initilization of the pose; (remember that angles are always given in radians!)

## ◆ CPose3D() [3/14]

 mrpt::poses::CPose3D::CPose3D ( const math::CMatrixDouble & m )
explicit

Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed).

## ◆ CPose3D() [4/14]

 mrpt::poses::CPose3D::CPose3D ( const math::CMatrixDouble44 & m )
explicit

Constructor from a 4x4 homogeneous matrix:

## ◆ CPose3D() [5/14]

template<class MATRIX33 , class VECTOR3 >
 mrpt::poses::CPose3D::CPose3D ( const MATRIX33 & rot, const VECTOR3 & xyz )
inline

Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a TPoint3D.

Definition at line 108 of file CPose3D.h.

References ASSERT_EQUAL_, and mrpt::mrpt::math::size().

## ◆ CPose3D() [6/14]

 mrpt::poses::CPose3D::CPose3D ( const CMatrixDouble33 & rot, const CArrayDouble< 3 > & xyz )
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 117 of file CPose3D.h.

## ◆ CPose3D() [7/14]

 mrpt::poses::CPose3D::CPose3D ( const CPose2D & )

Constructor from a CPose2D object.

## ◆ CPose3D() [8/14]

 mrpt::poses::CPose3D::CPose3D ( const CPoint3D & )

Constructor from a CPoint3D object.

## ◆ CPose3D() [9/14]

 mrpt::poses::CPose3D::CPose3D ( const mrpt::math::TPose3D & )

Constructor from lightweight object.

## ◆ CPose3D() [10/14]

 mrpt::poses::CPose3D::CPose3D ( 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.

## ◆ CPose3D() [11/14]

 mrpt::poses::CPose3D::CPose3D ( const CPose3DQuat & )

Constructor from a CPose3DQuat.

## ◆ CPose3D() [12/14]

 mrpt::poses::CPose3D::CPose3D ( const CPose3DRotVec & p )

Constructor from a CPose3DRotVec.

## ◆ CPose3D() [13/14]

 mrpt::poses::CPose3D::CPose3D ( TConstructorFlags_Poses constructor_dummy_param )
inline

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

Definition at line 142 of file CPose3D.h.

## ◆ CPose3D() [14/14]

 mrpt::poses::CPose3D::CPose3D ( const CArrayDouble< 12 > & vec12 )
inlineexplicit

Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

setFrom12Vector, getAs12Vector

Definition at line 148 of file CPose3D.h.

## ◆ _GetBaseClass()

 static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::_GetBaseClass ( )
staticprotected

 void mrpt::poses::CPose3D::addComponents ( const CPose3D & p )

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

normalizeAngles

## ◆ asString() [1/2]

 void mrpt::poses::CPose3D::asString ( std::string & s ) const
inline

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

fromString

Definition at line 428 of file CPose3D.h.

## ◆ asString() [2/2]

 std::string mrpt::poses::CPose3D::asString ( ) const
inline

Definition at line 429 of file CPose3D.h.

References asString().

Referenced by asString().

## ◆ changeCoordinatesReference()

 void mrpt::poses::CPose3D::changeCoordinatesReference ( const CPose3D & p )
inline

makes: this = p (+) this

Definition at line 290 of file CPose3D.h.

## ◆ clone()

 CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

## ◆ composeFrom()

 void mrpt::poses::CPose3D::composeFrom ( const CPose3D & A, const CPose3D & B )

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.

## ◆ composePoint() [1/4]

 void mrpt::poses::CPose3D::composePoint ( double lx, double ly, double lz, double & gx, double & gy, double & gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > * out_jacobian_df_dpoint = NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > * out_jacobian_df_dpose = NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > * out_jacobian_df_dse3 = NULL, bool use_small_rot_approx = false ) const

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

If pointers are provided, the corresponding Jacobians are returned. "out_jacobian_df_dse3" stands for the Jacobian with respect to the 6D locally Euclidean vector in the tangent space of SE(3). See this report for mathematical details.

Parameters
 If set to true, the Jacobian "out_jacobian_df_dpose" uses a fastest linearized appoximation (valid only for small rotations!).

## ◆ composePoint() [2/4]

 void mrpt::poses::CPose3D::composePoint ( const TPoint3D local_point, TPoint3D & global_point ) const
inline

An alternative, slightly more efficient way of doing 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 221 of file CPose3D.h.

## ◆ composePoint() [3/4]

 void mrpt::poses::CPose3D::composePoint ( const TPoint3D local_point, TPoint2D & global_point ) const
inline

This version of the method assumes that the resulting point has no Z component (use with caution!)

Definition at line 225 of file CPose3D.h.

## ◆ composePoint() [4/4]

 void mrpt::poses::CPose3D::composePoint ( double lx, double ly, double lz, float & gx, float & gy, float & gz ) const
inline

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

Definition at line 231 of file CPose3D.h.

## ◆ Create()

 static CPose3DPtr mrpt::poses::CPose3D::Create ( )
static

## ◆ CreateObject()

 static mrpt::utils::CObject* mrpt::poses::CPose3D::CreateObject ( )
static

## ◆ distance2DTo()

 double mrpt::poses::CPoseOrPoint< CPose3D >::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 165 of file CPoseOrPoint.h.

## ◆ distance2DToSquare()

 double mrpt::poses::CPoseOrPoint< CPose3D >::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 157 of file CPoseOrPoint.h.

## ◆ distance3DTo()

 double mrpt::poses::CPoseOrPoint< CPose3D >::distance3DTo ( double ax, double ay, double az ) const
inlineinherited

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

Definition at line 168 of file CPoseOrPoint.h.

## ◆ distance3DToSquare()

 double mrpt::poses::CPoseOrPoint< CPose3D >::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 160 of file CPoseOrPoint.h.

## ◆ distanceEuclidean6D()

 double mrpt::poses::CPose3D::distanceEuclidean6D ( const CPose3D & o ) const

The euclidean distance between two poses taken as two 6-length vectors (angles in radians).

## ◆ distanceTo() [1/2]

 double mrpt::poses::CPoseOrPoint< CPose3D >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 151 of file CPoseOrPoint.h.

## ◆ distanceTo() [2/2]

 double mrpt::poses::CPoseOrPoint< CPose3D >::distanceTo ( const mrpt::math::TPoint3D & b ) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

## ◆ duplicate()

 virtual mrpt::utils::CObject* mrpt::poses::CPose3D::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

## ◆ duplicateGetSmartPtr()

 mrpt::utils::CObjectPtr mrpt::utils::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 132 of file CObject.h.

## ◆ empty()

 static bool mrpt::poses::CPose3D::empty ( )
inlinestatic

Definition at line 516 of file CPose3D.h.

## ◆ exp() [1/2]

 static CPose3D mrpt::poses::CPose3D::exp ( const mrpt::math::CArrayNumeric< double, 6 > & vect, bool pseudo_exponential = false )
static

Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3D (static method).

Parameters
 pseudo_exponential If set to true, XYZ are copied from the first three elements in the vector instead of using the proper Lie Algebra formulas (this is actually the common practice in robotics literature).
Note
Method from TooN (C) Tom Drummond (GNU GPL)

Referenced by mrpt::poses::SE_traits< 3 >::exp(), and mrpt::poses::SE_traits< 3 >::pseudo_exp().

## ◆ exp() [2/2]

 static void mrpt::poses::CPose3D::exp ( const mrpt::math::CArrayNumeric< double, 6 > & vect, CPose3D & out_pose, bool pseudo_exponential = false )
static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

## ◆ exp_rotation()

 static CMatrixDouble33 mrpt::poses::CPose3D::exp_rotation ( const mrpt::math::CArrayNumeric< double, 3 > & vect )
static

Exponentiate a vector in the Lie algebra to generate a new SO(3) (a 3x3 rotation matrix).

Note
Method from TooN (C) Tom Drummond (GNU GPL)

## ◆ fromString()

 void mrpt::poses::CPose3D::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.

)

asString
Exceptions
 std::exception On invalid format

Definition at line 435 of file CPose3D.h.

References ASSERTMSG_, DEG2RAD, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

## ◆ getAs12Vector()

template<class ARRAYORVECTOR >
 void mrpt::poses::CPose3D::getAs12Vector ( ARRAYORVECTOR & vec12 ) const
inline

Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

setFrom12Vector

Definition at line 372 of file CPose3D.h.

## ◆ getAsQuaternion()

 void mrpt::poses::CPose3D::getAsQuaternion ( mrpt::math::CQuaternionDouble & 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) With : , and .

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).

Referenced by mrpt::math::jacobians::jacob_quat_from_yawpitchroll().

## ◆ getAsVector() [1/2]

 void mrpt::poses::CPose3D::getAsVector ( vector_double & v ) const

Returns a 1x6 vector with [x y z yaw pitch roll].

## ◆ getAsVector() [2/2]

 void mrpt::poses::CPose3D::getAsVector ( mrpt::math::CArrayDouble< 6 > & v ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

## ◆ getAsVectorVal()

 vector_double mrpt::poses::CPoseOrPoint< CPose3D >::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 180 of file CPoseOrPoint.h.

## ◆ getHomogeneousMatrix()

 void mrpt::poses::CPose3D::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const
inline

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

getInverseHomogeneousMatrix, getRotationMatrix

Definition at line 162 of file CPose3D.h.

## ◆ getHomogeneousMatrixVal()

 CMatrixDouble44 mrpt::poses::CPose3D::getHomogeneousMatrixVal ( ) const
inline

Definition at line 169 of file CPose3D.h.

Referenced by mrpt::slam::detail::project3DPointsFromDepthImageInto().

## ◆ getInverseHomogeneousMatrix() [1/2]

 void mrpt::poses::CPoseOrPoint< CPose3D >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 & out_HM ) const
inlineinherited

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

getHomogeneousMatrix

Definition at line 200 of file CPoseOrPoint.h.

## ◆ getInverseHomogeneousMatrix() [2/2]

 mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3D >::getInverseHomogeneousMatrix ( ) 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 207 of file CPoseOrPoint.h.

## ◆ getPoseMean() [1/2]

 const type_value& mrpt::poses::CPose3D::getPoseMean ( ) const
inline

Definition at line 501 of file CPose3D.h.

## ◆ getPoseMean() [2/2]

 type_value& mrpt::poses::CPose3D::getPoseMean ( )
inline

Definition at line 502 of file CPose3D.h.

## ◆ getRotationMatrix() [1/2]

 void mrpt::poses::CPose3D::getRotationMatrix ( mrpt::math::CMatrixDouble33 & ROT ) const
inline

Get the 3x3 rotation matrix.

getHomogeneousMatrix

Definition at line 172 of file CPose3D.h.

## ◆ getRotationMatrix() [2/2]

 const mrpt::math::CMatrixDouble33& mrpt::poses::CPose3D::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 174 of file CPose3D.h.

## ◆ GetRuntimeClass()

 virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

## ◆ getYawPitchRoll()

 void mrpt::poses::CPose3D::getYawPitchRoll ( double & yaw, double & pitch, double & roll ) const

Returns the three angles (yaw, pitch, roll), in radians, from the rotation matrix.

setFromValues, yaw, pitch, roll

## ◆ inverse()

 void mrpt::poses::CPose3D::inverse ( )

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

operator-

## ◆ inverseComposeFrom()

 void mrpt::poses::CPose3D::inverseComposeFrom ( const CPose3D & A, const CPose3D & B )

Makes 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.
composeFrom, composePoint

## ◆ inverseComposePoint() [1/3]

 void mrpt::poses::CPose3D::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 = NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > * out_jacobian_df_dpose = NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > * out_jacobian_df_dse3 = NULL ) const

Computes the 3D point L such as .

If pointers are provided, the corresponding Jacobians are returned. "out_jacobian_df_dse3" stands for the Jacobian with respect to the 6D locally Euclidean vector in the tangent space of SE(3). See this report for mathematical details.

composePoint, composeFrom

Referenced by mrpt::vision::pinhole::projectPoint_no_distortion().

## ◆ inverseComposePoint() [2/3]

 void mrpt::poses::CPose3D::inverseComposePoint ( const mrpt::math::TPoint3D & g, mrpt::math::TPoint3D & l ) 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 249 of file CPose3D.h.

## ◆ inverseComposePoint() [3/3]

 void mrpt::poses::CPose3D::inverseComposePoint ( const mrpt::math::TPoint2D & g, mrpt::math::TPoint2D & l, const double eps = 1e-6 ) 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 254 of file CPose3D.h.

## ◆ is3DPoseOrPoint()

 static bool mrpt::poses::CPoseOrPoint< CPose3D >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 130 of file CPoseOrPoint.h.

## ◆ is_3D()

 static bool mrpt::poses::CPose3D::is_3D ( )
inlinestatic

Definition at line 496 of file CPose3D.h.

## ◆ is_PDF()

 static bool mrpt::poses::CPose3D::is_PDF ( )
inlinestatic

Definition at line 499 of file CPose3D.h.

## ◆ isHorizontal()

 bool mrpt::poses::CPose3D::isHorizontal ( const double tolerance = 0 ) const

Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested).

## ◆ ln() [1/2]

 void mrpt::poses::CPose3D::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.

Note
Method from TooN (C) Tom Drummond (GNU GPL)
ln_jacob

Referenced by mrpt::poses::SE_traits< 3 >::ln().

## ◆ ln() [2/2]

 mrpt::math::CArrayDouble<6> mrpt::poses::CPose3D::ln ( ) 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 475 of file CPose3D.h.

References ln().

Referenced by ln().

## ◆ ln_jacob()

 void mrpt::poses::CPose3D::ln_jacob ( mrpt::math::CMatrixFixedNumeric< double, 6, 12 > & J ) const

Jacobian of the logarithm of the 3x4 matrix defined by this pose.

Note
Method from TooN (C) Tom Drummond (GNU GPL)
ln

## ◆ ln_rot_jacob()

 static void mrpt::poses::CPose3D::ln_rot_jacob ( const CMatrixDouble33 & R, CMatrixFixedNumeric< double, 3, 9 > & M )
static

Static function to compute the Jacobian of the SO(3) Logarithm function, evaluated at a given 3x3 rotation matrix R.

ln, ln_jacob

## ◆ ln_rotation()

 CArrayDouble<3> mrpt::poses::CPose3D::ln_rotation ( ) const

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

Note
Method from TooN (C) Tom Drummond (GNU GPL)

## ◆ max_size()

 static size_type mrpt::poses::CPose3D::max_size ( )
inlinestatic

Definition at line 517 of file CPose3D.h.

References static_size.

## ◆ norm()

 double mrpt::poses::CPoseOrPoint< CPose3D >::norm ( ) const
inlineinherited

Returns the euclidean norm of vector: .

Definition at line 174 of file CPoseOrPoint.h.

## ◆ normalizeAngles()

 void mrpt::poses::CPose3D::normalizeAngles ( )

Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents)

## ◆ operator*=()

 void mrpt::poses::CPose3D::operator*= ( const double s )

Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval).

## ◆ operator+() [1/3]

 CPose3D mrpt::poses::CPose3D::operator+ ( const CPose3D & b ) const
inline

The operator is the pose compounding operator.

Definition at line 186 of file CPose3D.h.

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

## ◆ operator+() [2/3]

 CPoint3D mrpt::poses::CPose3D::operator+ ( const CPoint3D & b ) const

The operator is the pose compounding operator.

## ◆ operator+() [3/3]

 CPoint3D mrpt::poses::CPose3D::operator+ ( const CPoint2D & b ) const

The operator is the pose compounding operator.

## ◆ operator+=()

 CPose3D& mrpt::poses::CPose3D::operator+= ( const CPose3D & b )
inline

Make (b can be "this" without problems)

Definition at line 266 of file CPose3D.h.

## ◆ operator-()

 CPose3D mrpt::poses::CPose3D::operator- ( const CPose3D & b ) const
inline

Compute .

Definition at line 279 of file CPose3D.h.

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

## ◆ operator[]()

 const double& mrpt::poses::CPose3D::operator[] ( unsigned int i ) const
inline

Definition at line 406 of file CPose3D.h.

## ◆ pitch()

 double mrpt::poses::CPose3D::pitch ( ) const
inline

Get the PITCH angle (in radians)

setFromValues

Definition at line 388 of file CPose3D.h.

 void mrpt::poses::CPose3D::readFromStream ( mrpt::utils::CStream & in, int version )
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer
CStream

Implements mrpt::utils::CSerializable.

## ◆ rebuildRotationMatrix()

 void mrpt::poses::CPose3D::rebuildRotationMatrix ( )
protected

Rebuild the homog matrix from the angles.

## ◆ resize()

 static void mrpt::poses::CPose3D::resize ( const size_t n )
inlinestatic

Definition at line 518 of file CPose3D.h.

References mrpt::format(), and static_size.

## ◆ roll()

 double mrpt::poses::CPose3D::roll ( ) const
inline

Get the ROLL angle (in radians)

setFromValues

Definition at line 389 of file CPose3D.h.

## ◆ setFrom12Vector()

template<class ARRAYORVECTOR >
 void mrpt::poses::CPose3D::setFrom12Vector ( const ARRAYORVECTOR & vec12 )
inline

Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose.

getAs12Vector

Definition at line 356 of file CPose3D.h.

## ◆ setFromValues()

 void mrpt::poses::CPose3D::setFromValues ( const double x0, const double y0, const double z0, const double yaw = 0, const double pitch = 0, const double roll = 0 )

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

getYawPitchRoll, setYawPitchRoll

## ◆ setFromXYZQ()

template<typename VECTORLIKE >
 void mrpt::poses::CPose3D::setFromXYZQ ( const VECTORLIKE & v, const size_t index_offset = 0 )
inline

Set the pose from a 3D position (meters) and a quaternion, stored as [x y z qr qx qy qz] in a 7-element vector.

setFromValues, getYawPitchRoll, setYawPitchRoll, CQuaternion, getAsQuaternion

Definition at line 326 of file CPose3D.h.

References ASSERT_ABOVEEQ_.

## ◆ setRotationMatrix()

 void mrpt::poses::CPose3D::setRotationMatrix ( const mrpt::math::CMatrixDouble33 & ROT )
inline

Sets the 3x3 rotation matrix.

getRotationMatrix, getHomogeneousMatrix

Definition at line 177 of file CPose3D.h.

## ◆ setYawPitchRoll()

 void mrpt::poses::CPose3D::setYawPitchRoll ( const double yaw_, const double pitch_, const double roll_ )
inline

Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinates matrix.

getYawPitchRoll, setFromValues

Definition at line 343 of file CPose3D.h.

## ◆ size()

 static size_type mrpt::poses::CPose3D::size ( )
inlinestatic

Definition at line 515 of file CPose3D.h.

References static_size.

## ◆ sphericalCoordinates()

 void mrpt::poses::CPose3D::sphericalCoordinates ( const 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.

## ◆ sqrDistanceTo()

 double mrpt::poses::CPoseOrPoint< CPose3D >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 133 of file CPoseOrPoint.h.

## ◆ updateYawPitchRoll()

 void mrpt::poses::CPose3D::updateYawPitchRoll ( ) const
inlineprotected

Updates Yaw/pitch/roll members from the m_ROT.

Definition at line 88 of file CPose3D.h.

## ◆ writeToStream()

 void mrpt::poses::CPose3D::writeToStream ( mrpt::utils::CStream & out, int * getVersion ) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
 out The output binary stream where object must be dumped. getVersion If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
 std::exception On any error, see CStream::WriteBuffer
CStream

Implements mrpt::utils::CSerializable.

## ◆ x() [1/3]

 double mrpt::poses::CPoseOrPoint< CPose3D >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 116 of file CPoseOrPoint.h.

## ◆ x() [2/3]

 double& mrpt::poses::CPoseOrPoint< CPose3D >::x ( )
inlineinherited

Definition at line 119 of file CPoseOrPoint.h.

## ◆ x() [3/3]

 void mrpt::poses::CPoseOrPoint< CPose3D >::x ( const double v )
inlineinherited
Parameters
 v Set X coord.

Definition at line 122 of file CPoseOrPoint.h.

## ◆ x_incr()

 void mrpt::poses::CPoseOrPoint< CPose3D >::x_incr ( const double v )
inlineinherited
Parameters
 v X+=v

Definition at line 125 of file CPoseOrPoint.h.

## ◆ y() [1/3]

 double mrpt::poses::CPoseOrPoint< CPose3D >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 117 of file CPoseOrPoint.h.

## ◆ y() [2/3]

 double& mrpt::poses::CPoseOrPoint< CPose3D >::y ( )
inlineinherited

Definition at line 120 of file CPoseOrPoint.h.

## ◆ y() [3/3]

 void mrpt::poses::CPoseOrPoint< CPose3D >::y ( const double v )
inlineinherited
Parameters
 v Set Y coord.

Definition at line 123 of file CPoseOrPoint.h.

## ◆ y_incr()

 void mrpt::poses::CPoseOrPoint< CPose3D >::y_incr ( const double v )
inlineinherited
Parameters
 v Y+=v

Definition at line 126 of file CPoseOrPoint.h.

## ◆ yaw()

 double mrpt::poses::CPose3D::yaw ( ) const
inline

Get the YAW angle (in radians)

setFromValues

Definition at line 387 of file CPose3D.h.

## ◆ _init_CPose3D

 mrpt::utils::CLASSINIT mrpt::poses::CPose3D::_init_CPose3D
staticprotected

Definition at line 74 of file CPose3D.h.

## ◆ classCObject

 const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 120 of file CObject.h.

## ◆ classCPose3D

 mrpt::utils::TRuntimeClassId mrpt::poses::CPose3D::classCPose3D
static

Definition at line 74 of file CPose3D.h.

## ◆ classCSerializable

 const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 35 of file CSerializable.h.

## ◆ classinfo

 const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3D::classinfo
static

Definition at line 74 of file CPose3D.h.

## ◆ m_coords

 CArrayDouble<3> mrpt::poses::CPose3D::m_coords

The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods.

Definition at line 77 of file CPose3D.h.

Referenced by mrpt::slam::detail::project3DPointsFromDepthImageInto().

## ◆ m_pitch

 double mrpt::poses::CPose3D::m_pitch
mutableprotected

Definition at line 82 of file CPose3D.h.

## ◆ m_roll

 double mrpt::poses::CPose3D::m_roll
mutableprotected

These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc )

Definition at line 82 of file CPose3D.h.

## ◆ m_ROT

 CMatrixDouble33 mrpt::poses::CPose3D::m_ROT
protected

The 3x3 rotation matrix, access with getRotationMatrix(), setRotationMatrix() (It's not safe to set this field as public)

Definition at line 79 of file CPose3D.h.

## ◆ m_yaw

 double mrpt::poses::CPose3D::m_yaw
mutableprotected

Definition at line 82 of file CPose3D.h.

## ◆ m_ypr_uptodate

 bool mrpt::poses::CPose3D::m_ypr_uptodate
mutableprotected

Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update.

Definition at line 81 of file CPose3D.h.

 Page generated by Doxygen 1.8.14 for MRPT 1.1.0 SVN: at lun oct 28 00:54:49 CET 2019 Hosted on: 