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mrpt::poses::CPose3DRotVec Class Reference

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.

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 44 of file CPose3DRotVec.h.

#include <mrpt/poses/CPose3DRotVec.h>

Inheritance diagram for mrpt::poses::CPose3DRotVec:
Inheritance graph

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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
const type_valuegetPoseMean () const
 
type_valuegetPoseMean ()
 
void setToNaN () override
 Set all data fields to quiet NaN. More...
 
const CPose3DRotVecderived () const
 
CPose3DRotVecderived ()
 
virtual mxArraywriteToMatlab () 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...
 
CPose3DRotVecoperator+= (const CPose3DRotVec &b)
 Make $ this = this \oplus b $ (b can be "this" without problems) More...
 
CPose3DRotVecoperator= (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 voidoperator new (size_t size, void *ptr)
 
static bool is_3D ()
 
static 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::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () 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 size_type size ()
 
static bool empty ()
 
static 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

Definition at line 520 of file CPose3DRotVec.h.

◆ ConstPtr

Definition at line 47 of file CPose3DRotVec.h.

◆ ConstUniquePtr

Definition at line 47 of file CPose3DRotVec.h.

◆ difference_type

Definition at line 522 of file CPose3DRotVec.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 47 of file CPose3DRotVec.h.

◆ reference

Definition at line 519 of file CPose3DRotVec.h.

◆ size_type

Definition at line 521 of file CPose3DRotVec.h.

◆ type_value

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

Definition at line 496 of file CPose3DRotVec.h.

◆ UniquePtr

Definition at line 47 of file CPose3DRotVec.h.

◆ value_type

The type of the elements.

Definition at line 518 of file CPose3DRotVec.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 497 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 502 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 506 of file CPose3DRotVec.h.

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 525 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 59 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 67 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 74 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 88 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 99 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

◆ 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 122 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 322 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 447 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 453 of file CPose3DRotVec.h.

◆ changeCoordinatesReference()

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

makes: this = p (+) this

Definition at line 304 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 226 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 47 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 47 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 169 of file CObject.h.

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

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

◆ empty()

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

Definition at line 530 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::exceptionOn invalid format

Definition at line 465 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 381 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 394 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 47 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 141 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 511 of file CPose3DRotVec.h.

◆ getPoseMean() [2/2]

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

Definition at line 512 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 156 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 bool mrpt::poses::CPose3DRotVec::is_3D ( )
inlinestatic

Definition at line 501 of file CPose3DRotVec.h.

References is_3D_val.

◆ is_PDF()

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

Definition at line 510 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 size_type mrpt::poses::CPose3DRotVec::max_size ( )
inlinestatic

Definition at line 531 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 47 of file CPose3DRotVec.h.

◆ operator delete() [2/3]

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

Definition at line 47 of file CPose3DRotVec.h.

◆ operator delete() [3/3]

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

Definition at line 47 of file CPose3DRotVec.h.

◆ operator delete[]()

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

Definition at line 47 of file CPose3DRotVec.h.

◆ operator new() [1/3]

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

Definition at line 47 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 47 of file CPose3DRotVec.h.

◆ operator new() [3/3]

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

Definition at line 47 of file CPose3DRotVec.h.

◆ operator new[]()

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

Definition at line 47 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 329 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 169 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 267 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 289 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 274 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 400 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 421 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 532 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 314 of file CPose3DRotVec.h.

References m_rotvec.

◆ rx() [2/2]

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

Definition at line 317 of file CPose3DRotVec.h.

References m_rotvec.

◆ ry() [1/2]

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

Definition at line 315 of file CPose3DRotVec.h.

References m_rotvec.

◆ ry() [2/2]

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

Definition at line 318 of file CPose3DRotVec.h.

References m_rotvec.

◆ rz() [1/2]

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

Definition at line 316 of file CPose3DRotVec.h.

References m_rotvec.

◆ rz() [2/2]

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

Definition at line 319 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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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::exceptionOn 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 363 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 182 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 345 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 
)

◆ 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 size_type mrpt::poses::CPose3DRotVec::size ( )
inlinestatic

Definition at line 529 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 70 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
vSet X coord.

Definition at line 158 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=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
vSet Y coord.

Definition at line 162 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose3DRotVec >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=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 47 of file CPose3DRotVec.h.

◆ className

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

Definition at line 47 of file CPose3DRotVec.h.

◆ m_coords

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

◆ m_rotvec

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

◆ runtimeClassId

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

Definition at line 47 of file CPose3DRotVec.h.




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