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mrpt::poses Namespace Reference

Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Namespaces

 detail
 Internal, auxiliary templates for MRPT classes.
 
 internal
 

Classes

class  CPoint
 A base class for representing a point in 2D or 3D. More...
 
class  CPoint2D
 A class used to store a 2D point. More...
 
class  CPoint2DPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
 
class  CPoint2DPDFGaussian
 A gaussian distribution for 2D points. More...
 
class  CPoint3D
 A class used to store a 3D point. More...
 
class  CPointPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
 
class  CPointPDFGaussian
 A gaussian distribution for 3D points. More...
 
class  CPointPDFParticles
 A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
 
class  CPointPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^t $. More...
 
class  CPose
 A base class for representing a pose in 2D or 3D. More...
 
class  CPose2D
 A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle. More...
 
class  CPose2DGridTemplate
 This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
 
class  CPose2DInterpolator
 This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). More...
 
class  CPose3D
 A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
 
class  CPose3DInterpolator
 This class stores a time-stamped trajectory in SE(3) (CPose3D poses). More...
 
class  CPose3DPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
 
class  CPose3DPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
 
class  CPose3DPDFGaussianInf
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix. More...
 
class  CPose3DPDFParticles
 Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
 
class  CPose3DPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
 
class  CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
 
class  CPose3DQuatPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz]. More...
 
class  CPose3DQuatPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
 
class  CPose3DQuatPDFGaussianInf
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
 
class  CPose3DRotVec
 A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle). More...
 
class  CPoseInterpolatorBase
 Base class for SE(2)/SE(3) interpolators. More...
 
class  CPoseOrPoint
 The base template class for 2D & 3D points and poses. More...
 
class  CPosePDF
 Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
 
class  CPosePDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
 
class  CPosePDFGaussianInf
 A Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $ as a Gaussian with a mean and the inverse of the covariance. More...
 
class  CPosePDFGrid
 Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
 
class  CPosePDFParticles
 Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
 
class  CPosePDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
 
class  CPoseRandomSampler
 An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
 
class  CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
 
class  CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
 
class  CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data. More...
 
class  FrameTransformer
 See docs in FrameTransformerInterface. More...
 
class  FrameTransformerInterface
 Virtual base class for interfaces to a ROS tf2-like service capable of "publishing" and "looking-up" relative poses between two "coordinate frames". More...
 
class  SE_average
 Computes weighted and un-weighted averages of SE(2) or SE(3) poses. More...
 
class  SE_average< 2 >
 Computes weighted and un-weighted averages of SE(2) poses. More...
 
class  SE_average< 3 >
 Computes weighted and un-weighted averages of SE(3) poses. More...
 
struct  SE_traits
 A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc. More...
 
struct  SE_traits< 2 >
 Specialization of SE for 2D poses. More...
 
struct  SE_traits< 3 >
 Specialization of SE for 3D poses. More...
 
class  SO_average
 Computes weighted and un-weighted averages of SO(2) or SO(3) orientations. More...
 
class  SO_average< 2 >
 Computes weighted and un-weighted averages of SO(2) orientations. More...
 
class  SO_average< 3 >
 Computes weighted and un-weighted averages of SO(3) orientations. More...
 

Enumerations

enum  TInterpolatorMethod {
  imSpline = 0, imLinear2Neig, imLinear4Neig, imSSLLLL,
  imSSLSLL, imLinearSlerp, imSplineSlerp
}
 Type to select the interpolation method in CPoseInterpolatorBase derived classes. More...
 
enum  TConstructorFlags_Poses { UNINITIALIZED_POSE = 0 }
 
enum  FrameLookUpStatus { LKUP_GOOD = 0, LKUP_UNKNOWN_FRAME, LKUP_NO_CONNECTIVITY, LKUP_EXTRAPOLATION_ERROR }
 

Functions

template<class DERIVEDCLASS >
std::ostream & operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p)
 Dumps a point as a string [x,y] or [x,y,z]. More...
 
template<class DERIVEDCLASS >
bool operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b)
 Used by STL algorithms. More...
 
template<class DERIVEDCLASS >
bool operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
 
template<class DERIVEDCLASS >
bool operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
 
std::ostream & operator<< (std::ostream &o, const CPose2D &p)
 Textual output stream function. More...
 
CPose2D operator- (const CPose2D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi) More...
 
mrpt::math::TPoint2D operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
 Compose a 2D point from a new coordinate base given by a 2D pose. More...
 
bool operator== (const CPose2D &p1, const CPose2D &p2)
 
bool operator!= (const CPose2D &p1, const CPose2D &p2)
 
std::ostream & operator<< (std::ostream &o, const CPose3D &p)
 Textual output stream function. More...
 
CPose3D operator- (const CPose3D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...
 
bool operator== (const CPose3D &p1, const CPose3D &p2)
 
bool operator!= (const CPose3D &p1, const CPose3D &p2)
 
CPose3DPDFGaussian operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DPDFGaussian operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
std::ostream & operator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
bool operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)
 
bool operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2)
 
CPose3DPDFGaussianInf operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DPDFGaussianInf operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
std::ostream & operator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
std::ostream & operator<< (std::ostream &o, const CPose3DQuat &p)
 Textual output stream function. More...
 
CPose3DQuat operator- (const CPose3DQuat &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1") More...
 
CPoint3D operator- (const CPoint3D &G, const CPose3DQuat &p)
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
mrpt::math::TPoint3D operator- (const mrpt::math::TPoint3D &G, const CPose3DQuat &p)
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
bool operator== (const CPose3DQuat &p1, const CPose3DQuat &p2)
 
bool operator!= (const CPose3DQuat &p1, const CPose3DQuat &p2)
 
bool operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)
 
CPose3DQuatPDFGaussian operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DQuatPDFGaussian operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Inverse pose composition for two 3D pose Gaussians. More...
 
std::ostream & operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
bool operator== (const CPose3DQuatPDFGaussianInf &p1, const CPose3DQuatPDFGaussianInf &p2)
 
CPose3DQuatPDFGaussianInf operator+ (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DQuatPDFGaussianInf operator- (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
 Inverse pose composition for two 3D pose Gaussians. More...
 
std::ostream & operator<< (std::ostream &out, const CPose3DQuatPDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
std::ostream & operator<< (std::ostream &o, const CPose3DRotVec &p)
 Textual output stream function. More...
 
CPose3DRotVec operator- (const CPose3DRotVec &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...
 
bool operator== (const CPose3DRotVec &p1, const CPose3DRotVec &p2)
 
bool operator!= (const CPose3DRotVec &p1, const CPose3DRotVec &p2)
 
CPosePDFGaussian operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...
 
CPosePDFGaussian operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...
 
std::ostream & operator<< (std::ostream &out, const CPosePDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
poses::CPosePDFGaussian operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $. More...
 
bool operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)
 
bool operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2)
 
CPosePDFGaussianInf operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...
 
CPosePDFGaussianInf operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...
 
poses::CPosePDFGaussianInf operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $. More...
 
std::ostream & operator<< (std::ostream &out, const CPosePDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
template<class VEC3 , class MAT33 >
void deltaR (const MAT33 &R, VEC3 &v)
 
template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >
void M3x9 (const VEC3 &a, const MAT3x3 &B, MAT3x9 &RES)
 
CMatrixDouble33 ddeltaRt_dR (const CPose3D &P)
 
void dVinvt_dR (const CPose3D &P, CMatrixFixedNumeric< double, 3, 9 > &J)
 
Parsing of textfiles with poses
template<class POSE_T >
void readFileWithPoses (const std::string &fname, std::vector< POSE_T > *poses_vec, std::vector< mrpt::system::TTimeStamp > *timestamps=NULL, bool substract_init_offset=false)
 Parse the textfile and fill in the corresponding poses vector. More...
 

Enumeration Type Documentation

◆ FrameLookUpStatus

Enumerator
LKUP_GOOD 
LKUP_UNKNOWN_FRAME 
LKUP_NO_CONNECTIVITY 
LKUP_EXTRAPOLATION_ERROR 

Definition at line 21 of file FrameTransformer.h.

◆ TConstructorFlags_Poses

Enumerator
UNINITIALIZED_POSE 

Definition at line 34 of file CPoseOrPoint.h.

Function Documentation

◆ ddeltaRt_dR()

CMatrixDouble33 mrpt::poses::ddeltaRt_dR ( const CPose3D P)
inline

◆ deltaR()

template<class VEC3 , class MAT33 >
void mrpt::poses::deltaR ( const MAT33 &  R,
VEC3 &  v 
)
inline

◆ dVinvt_dR()

void mrpt::poses::dVinvt_dR ( const CPose3D P,
CMatrixFixedNumeric< double, 3, 9 > &  J 
)
inline

◆ M3x9()

template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >
void mrpt::poses::M3x9 ( const VEC3 &  a,
const MAT3x3 &  B,
MAT3x9 &  RES 
)
inline

Definition at line 822 of file CPose3D.cpp.

References MRPT_MAX_ALIGN_BYTES.

Referenced by dVinvt_dR(), and mrpt::poses::CPose3D::ln_rot_jacob().

◆ operator!=() [1/5]

template<class DERIVEDCLASS >
bool mrpt::poses::operator!= ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)

Definition at line 174 of file CPoint.h.

References static_size.

◆ operator!=() [2/5]

bool mrpt::poses::operator!= ( const CPose2D p1,
const CPose2D p2 
)

◆ operator!=() [3/5]

bool mrpt::poses::operator!= ( const CPose3DRotVec p1,
const CPose3DRotVec p2 
)

◆ operator!=() [4/5]

bool mrpt::poses::operator!= ( const CPose3DQuat p1,
const CPose3DQuat p2 
)

Definition at line 483 of file CPose3DQuat.cpp.

◆ operator!=() [5/5]

bool mrpt::poses::operator!= ( const CPose3D p1,
const CPose3D p2 
)

◆ operator+() [1/9]

CPose3DQuatPDFGaussianInf mrpt::poses::operator+ ( const CPose3DQuatPDFGaussianInf x,
const CPose3DQuatPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussianInf::operator +=

Definition at line 345 of file CPose3DQuatPDFGaussianInf.cpp.

◆ operator+() [2/9]

CPose3DQuatPDFGaussian mrpt::poses::operator+ ( const CPose3DQuatPDFGaussian x,
const CPose3DQuatPDFGaussian u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussian::operator +=

Definition at line 441 of file CPose3DQuatPDFGaussian.cpp.

◆ operator+() [3/9]

CPose3DPDFGaussianInf mrpt::poses::operator+ ( const CPose3DPDFGaussianInf x,
const CPose3DPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator +=

Definition at line 419 of file CPose3DPDFGaussianInf.cpp.

◆ operator+() [4/9]

CPosePDFGaussianInf mrpt::poses::operator+ ( const CPosePDFGaussianInf a,
const CPosePDFGaussianInf b 
)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 517 of file CPosePDFGaussianInf.cpp.

◆ operator+() [5/9]

CPosePDFGaussian mrpt::poses::operator+ ( const CPosePDFGaussian a,
const CPosePDFGaussian b 
)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 553 of file CPosePDFGaussian.cpp.

◆ operator+() [6/9]

poses::CPosePDFGaussianInf mrpt::poses::operator+ ( const mrpt::poses::CPose2D A,
const mrpt::poses::CPosePDFGaussianInf B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

Definition at line 420 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference().

◆ operator+() [7/9]

CPose3DPDFGaussian mrpt::poses::operator+ ( const CPose3DPDFGaussian x,
const CPose3DPDFGaussian u 
)
inline

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator +=

Definition at line 213 of file CPose3DPDFGaussian.h.

◆ operator+() [8/9]

poses::CPosePDFGaussian mrpt::poses::operator+ ( const mrpt::poses::CPose2D A,
const mrpt::poses::CPosePDFGaussian B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

Definition at line 386 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::changeCoordinatesReference().

◆ operator+() [9/9]

TPoint2D mrpt::poses::operator+ ( const CPose2D pose,
const mrpt::math::TPoint2D pnt 
)

◆ operator-() [1/12]

CPose3DQuatPDFGaussianInf mrpt::poses::operator- ( const CPose3DQuatPDFGaussianInf x,
const CPose3DQuatPDFGaussianInf u 
)

Inverse pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussianInf::operator -=

Definition at line 355 of file CPose3DQuatPDFGaussianInf.cpp.

◆ operator-() [2/12]

CPose3DQuatPDFGaussian mrpt::poses::operator- ( const CPose3DQuatPDFGaussian x,
const CPose3DQuatPDFGaussian u 
)

Inverse pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussian::operator -=

Definition at line 449 of file CPose3DQuatPDFGaussian.cpp.

◆ operator-() [3/12]

CPose3DPDFGaussianInf mrpt::poses::operator- ( const CPose3DPDFGaussianInf x,
const CPose3DPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussianInf::operator -=

Definition at line 427 of file CPose3DPDFGaussianInf.cpp.

◆ operator-() [4/12]

CPosePDFGaussianInf mrpt::poses::operator- ( const CPosePDFGaussianInf a,
const CPosePDFGaussianInf b 
)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 527 of file CPosePDFGaussianInf.cpp.

◆ operator-() [5/12]

CPosePDFGaussian mrpt::poses::operator- ( const CPosePDFGaussian a,
const CPosePDFGaussian b 
)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 561 of file CPosePDFGaussian.cpp.

◆ operator-() [6/12]

CPose3DPDFGaussian mrpt::poses::operator- ( const CPose3DPDFGaussian x,
const CPose3DPDFGaussian u 
)
inline

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator -=

Definition at line 223 of file CPose3DPDFGaussian.h.

◆ operator-() [7/12]

CPose2D mrpt::poses::operator- ( const CPose2D p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)

See also
CPose2D::inverse()

Definition at line 315 of file CPose2D.cpp.

References mrpt::poses::CPose2D::inverse().

◆ operator-() [8/12]

CPose3DRotVec mrpt::poses::operator- ( const CPose3DRotVec p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 203 of file CPose3DRotVec.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [9/12]

CPose3DQuat mrpt::poses::operator- ( const CPose3DQuat p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1")

Definition at line 448 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::inverse().

◆ operator-() [10/12]

CPoint3D mrpt::poses::operator- ( const CPoint3D G,
const CPose3DQuat p 
)

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

See also
inverseComposePoint

Definition at line 488 of file CPose3DQuat.cpp.

References G.

◆ operator-() [11/12]

TPoint3D mrpt::poses::operator- ( const mrpt::math::TPoint3D G,
const CPose3DQuat p 
)

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

See also
inverseComposePoint

Definition at line 495 of file CPose3DQuat.cpp.

References G.

◆ operator-() [12/12]

CPose3D mrpt::poses::operator- ( const CPose3D p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 503 of file CPose3D.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator<()

template<class DERIVEDCLASS >
bool mrpt::poses::operator< ( const CPoint< DERIVEDCLASS > &  a,
const CPoint< DERIVEDCLASS > &  b 
)

Used by STL algorithms.

Definition at line 150 of file CPoint.h.

◆ operator<<() [1/11]

template<class DERIVEDCLASS >
std::ostream& mrpt::poses::operator<< ( std::ostream &  o,
const CPoint< DERIVEDCLASS > &  p 
)

Dumps a point as a string [x,y] or [x,y,z].

Definition at line 140 of file CPoint.h.

◆ operator<<() [2/11]

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 329 of file CPose3DQuatPDFGaussianInf.cpp.

◆ operator<<() [3/11]

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 427 of file CPose3DQuatPDFGaussian.cpp.

◆ operator<<() [4/11]

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 385 of file CPose3DPDFGaussianInf.cpp.

◆ operator<<() [5/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 374 of file CPosePDFGaussian.cpp.

◆ operator<<() [6/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 408 of file CPosePDFGaussianInf.cpp.

◆ operator<<() [7/11]

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 597 of file CPose3DPDFGaussian.cpp.

◆ operator<<() [8/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose2D p 
)

Textual output stream function.

Definition at line 89 of file CPose2D.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

◆ operator<<() [9/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DRotVec p 
)

Textual output stream function.

Definition at line 114 of file CPose3DRotVec.cpp.

◆ operator<<() [10/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DQuat p 
)

Textual output stream function.

Definition at line 433 of file CPose3DQuat.cpp.

◆ operator<<() [11/11]

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3D p 
)

Textual output stream function.

Definition at line 197 of file CPose3D.cpp.

References mrpt::RAD2DEG().

◆ operator==() [1/11]

bool mrpt::poses::operator== ( const CPose3DQuatPDFGaussianInf p1,
const CPose3DQuatPDFGaussianInf p2 
)

◆ operator==() [2/11]

bool mrpt::poses::operator== ( const CPose3DQuatPDFGaussian p1,
const CPose3DQuatPDFGaussian p2 
)

◆ operator==() [3/11]

template<class DERIVEDCLASS >
bool mrpt::poses::operator== ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)

Definition at line 166 of file CPoint.h.

References static_size.

◆ operator==() [4/11]

bool mrpt::poses::operator== ( const CPose3DPDFGaussianInf p1,
const CPose3DPDFGaussianInf p2 
)

◆ operator==() [5/11]

bool mrpt::poses::operator== ( const CPosePDFGaussianInf p1,
const CPosePDFGaussianInf p2 
)

◆ operator==() [6/11]

bool mrpt::poses::operator== ( const CPosePDFGaussian p1,
const CPosePDFGaussian p2 
)

◆ operator==() [7/11]

bool mrpt::poses::operator== ( const CPose3DPDFGaussian p1,
const CPose3DPDFGaussian p2 
)

◆ operator==() [8/11]

bool mrpt::poses::operator== ( const CPose2D p1,
const CPose2D p2 
)

◆ operator==() [9/11]

bool mrpt::poses::operator== ( const CPose3DRotVec p1,
const CPose3DRotVec p2 
)

◆ operator==() [10/11]

bool mrpt::poses::operator== ( const CPose3DQuat p1,
const CPose3DQuat p2 
)

◆ operator==() [11/11]

bool mrpt::poses::operator== ( const CPose3D p1,
const CPose3D p2 
)



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