Detailed Description

A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

To access the translation use x(), y() and z(). To access the rotation, use CPose3DQuat::quat().

This class also behaves like a STL container, since it has begin(), end(), iterators, and can be accessed with the [] operator with indices running from 0 to 6 to access the [x y z qr qx qy qz] as if they were a vector. Thus, a CPose3DQuat can be used as a 7-vector anywhere the MRPT math functions expect any kind of vector.

This class and CPose3D are very similar, and they can be converted to the each other automatically via transformation constructors.

See also:: CPose3D (for a class based on a 4x4 matrix instead of a quaternion), mrpt::math::TPose3DQuat, mrpt::poses::CPose3DQuatPDF for a probabilistic version of this class, mrpt::math::CQuaternion, CPoseOrPoint

#include <mrpt/poses/CPose3DQuat.h>

Inheritance diagram for mrpt::poses::CPose3DQuat:

[legend]

List of all members.

Classes
struct	const_iterator
struct	iterator
Public Types
enum	{ is_3D_val = 1 }
enum	{ rotation_dimensions = 3 }
enum	{ is_PDF_val = 1 }
typedef CPose3DQuat	type_value
	Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.
typedef CPose3DQuat	mrpt_autotype
	See ops_containers.h.
Public Member Functions
mrpt::math::CQuaternionDouble &	quat ()
	Read/Write access to the quaternion representing the 3D rotation.
const mrpt::math::CQuaternionDouble &	quat () const
	Read-only access to the quaternion representing the 3D rotation.
mrpt::math::CArrayDouble< 3 > &	xyz ()
	Read/Write access to the translation vector in R^3.
const mrpt::math::CArrayDouble< 3 > &	xyz () const
	Read-only access to the translation vector in R^3.
	CPose3DQuat ()
	Default constructor, initialize translation to zeros and quaternion to no rotation.
	CPose3DQuat (TConstructorFlags_Quaternions constructor_dummy_param)
	Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor.
	CPose3DQuat (const double x, const double y, const double z, const mrpt::math::CQuaternionDouble &q)
	Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.
	CPose3DQuat (const CPose3D &p)
	Constructor from a CPose3D.
	CPose3DQuat (const mrpt::math::TPose3DQuat &p)
	Constructor from lightweight object.
	CPose3DQuat (const CMatrixDouble44 &M)
	Constructor from a 4x4 homogeneous transformation matrix.
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
void	getAsVector (vector_double &v) const
	Returns a 1x7 vector with [x y z qr qx qy qz].
void	composeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
	Makes $this = A \oplus B$ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.
void	inverseComposeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
void	composePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > out_jacobian_df_dpose=NULL) const
	Computes the 3D point G such as $G = this \oplus L$ .
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, 7 > out_jacobian_df_dpose=NULL) const
	Computes the 3D point L such as $L = G \ominus this$ .
template<class POINT1 , class POINT2 >
void	composePoint (const POINT1 &L, POINT2 &G) const
	Computes the 3D point G such as $G = this \oplus L$ .
template<class POINT1 , class POINT2 >
void	inverseComposePoint (const POINT1 &G, POINT2 &L) const
	Computes the 3D point L such as $L = G \ominus this$ .
CPoint3D	operator+ (const CPoint3D &L) const
	Computes the 3D point G such as $G = this \oplus L$ .
TPoint3D	operator+ (const TPoint3D &L) const
	Computes the 3D point G such as $G = this \oplus L$ .
CPoint3D	operator- (const CPoint3D &G) const
	Computes the 3D point L such as $L = G \ominus this$ .
TPoint3D	operator- (const TPoint3D &G) const
	Computes the 3D point L such as $L = G \ominus this$ .
virtual void	operator*= (const double s)
	Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).
CPose3DQuat &	operator+= (const CPose3DQuat &b)
	Make $this = this \oplus b$ .
CPose3DQuat	operator+ (const CPose3DQuat &p) const
	Return the composed pose $ret = this \oplus p$ .
CPose3DQuat &	operator-= (const CPose3DQuat &b)
	Make $this = this \ominus b$ .
CPose3DQuat	operator- (const CPose3DQuat &p) const
	Return the composed pose $ret = this \ominus p$ .
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.)
std::string	asString () const
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" )
const double &	operator[] (unsigned int i) const
	Read only [] operator.
double &	operator[] (unsigned int i)
	Read/write [] operator.
void	sphericalCoordinates (const TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > out_jacob_dryp_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > out_jacob_dryp_dpose=NULL) const
	Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.
const type_value &	getPoseMean () const
type_value &	getPoseMean ()
CPose3D	operator- (const CPose3D &b) const
	The operator $a \ominus b$ is the pose inverse compounding operator.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Member Functions
static bool	is_3D ()
static bool	is_PDF ()
Public Attributes
CArrayDouble< 3 >	m_coords
	The translation vector [x,y,z].
mrpt::math::CQuaternionDouble	m_quat
	The quaternion.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
RTTI stuff
typedef CPose3DQuatPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPose3DQuat
static mrpt::utils::TRuntimeClassId	classCPose3DQuat
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPose3DQuatPtr	Create ()
STL-like methods and typedefs
enum	{ static_size = 7 }
typedef double	value_type
	The type of the elements.
typedef double &	reference
typedef const double &	const_reference
typedef std::size_t	size_type
typedef std::ptrdiff_t	difference_type
typedef std::reverse_iterator < iterator >	reverse_iterator
typedef std::reverse_iterator < const_iterator >	const_reverse_iterator
void	assign (const size_t N, const double val)
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
reverse_iterator	rbegin ()
const_reverse_iterator	rbegin () const
reverse_iterator	rend ()
const_reverse_iterator	rend () const
void	swap (CPose3DQuat &o)
static size_type	size ()
static bool	empty ()
static size_type	max_size ()
static void	resize (const size_t n)
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream

Member Typedef Documentation

typedef const double& mrpt::poses::CPose3DQuat::const_reference

Definition at line 270 of file CPose3DQuat.h.

typedef std::reverse_iterator<const_iterator> mrpt::poses::CPose3DQuat::const_reverse_iterator

Definition at line 419 of file CPose3DQuat.h.

typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type

Definition at line 272 of file CPose3DQuat.h.

typedef CPose3DQuat mrpt::poses::CPose3DQuat::mrpt_autotype

See ops_containers.h.

Definition at line 438 of file CPose3DQuat.h.

typedef double& mrpt::poses::CPose3DQuat::reference

Definition at line 269 of file CPose3DQuat.h.

typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator

Definition at line 418 of file CPose3DQuat.h.

typedef std::size_t mrpt::poses::CPose3DQuat::size_type

Definition at line 271 of file CPose3DQuat.h.

typedef CPose3DQuatPtr mrpt::poses::CPose3DQuat::SmartPtr

A typedef for the associated smart pointer

Definition at line 66 of file CPose3DQuat.h.

typedef CPose3DQuat mrpt::poses::CPose3DQuat::type_value

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

Definition at line 256 of file CPose3DQuat.h.

typedef double mrpt::poses::CPose3DQuat::value_type

The type of the elements.

Definition at line 268 of file CPose3DQuat.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 257 of file CPose3DQuat.h.

anonymous enum

Enumerator:

rotation_dimensions

Definition at line 259 of file CPose3DQuat.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 260 of file CPose3DQuat.h.

anonymous enum

Enumerator:

static_size

Definition at line 275 of file CPose3DQuat.h.

Constructor & Destructor Documentation

mrpt::poses::CPose3DQuat::CPose3DQuat ( ) [inline]

Default constructor, initialize translation to zeros and quaternion to no rotation.

Definition at line 85 of file CPose3DQuat.h.

mrpt::poses::CPose3DQuat::CPose3DQuat ( TConstructorFlags_Quaternions constructor_dummy_param ) [inline]

Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor.

Definition at line 88 of file CPose3DQuat.h.

mrpt::poses::CPose3DQuat::CPose3DQuat	(	const double	x,
		const double	y,
		const double	z,
		const mrpt::math::CQuaternionDouble &	q
	)		`[inline]`

Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.

Definition at line 91 of file CPose3DQuat.h.

References Eigen::internal::y.

mrpt::poses::CPose3DQuat::CPose3DQuat ( const CPose3D & p ) [explicit]

Constructor from a CPose3D.

mrpt::poses::CPose3DQuat::CPose3DQuat ( const mrpt::math::TPose3DQuat & p ) [inline]

Constructor from lightweight object.

Definition at line 97 of file CPose3DQuat.h.

References mrpt::math::TPose3DQuat::x, Eigen::internal::y, mrpt::math::TPose3DQuat::y, and mrpt::math::TPose3DQuat::z.

mrpt::poses::CPose3DQuat::CPose3DQuat ( const CMatrixDouble44 & M ) [explicit]

Constructor from a 4x4 homogeneous transformation matrix.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

void mrpt::poses::CPose3DQuat::assign	(	const size_t	N,
		const double	val
	)		`[inline]`

Definition at line 281 of file CPose3DQuat.h.

void mrpt::poses::CPose3DQuat::asString ( std::string & s ) const [inline]

Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.)

See also:: fromString

Definition at line 194 of file CPose3DQuat.h.

References mrpt::format().

std::string mrpt::poses::CPose3DQuat::asString ( ) const [inline]

Definition at line 195 of file CPose3DQuat.h.

References asString().

Referenced by asString().

iterator mrpt::poses::CPose3DQuat::begin ( ) [inline]

Definition at line 420 of file CPose3DQuat.h.

const_iterator mrpt::poses::CPose3DQuat::begin ( ) const [inline]

Definition at line 422 of file CPose3DQuat.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

void mrpt::poses::CPose3DQuat::composeFrom	(	const CPose3DQuat &	A,
		const CPose3DQuat &	B
	)

Makes $this = A \oplus B$ 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:: inverseComposeFrom, composePoint

Referenced by operator+().

void mrpt::poses::CPose3DQuat::composePoint	(	const double	lx,
		const double	ly,
		const double	lz,
		double &	gx,
		double &	gy,
		double &	gz,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `NULL`,
		mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *	out_jacobian_df_dpose = `NULL`
	)		const

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

See also:: composeFrom, inverseComposePoint

template<class POINT1 , class POINT2 >

void mrpt::poses::CPose3DQuat::composePoint	(	const POINT1 &	L,
		POINT2 &	G
	)		const `[inline]`

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

POINT1 and POINT1 can be anything supporing [0],[1],[2].

See also:: composePoint

Definition at line 140 of file CPose3DQuat.h.

References composePoint().

Referenced by composePoint().

static CPose3DQuatPtr mrpt::poses::CPose3DQuat::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPose3DQuat::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuat::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

static bool mrpt::poses::CPose3DQuat::empty ( ) [inline, static]

Definition at line 277 of file CPose3DQuat.h.

iterator mrpt::poses::CPose3DQuat::end ( ) [inline]

Definition at line 421 of file CPose3DQuat.h.

References static_size.

const_iterator mrpt::poses::CPose3DQuat::end ( ) const [inline]

Definition at line 423 of file CPose3DQuat.h.

References static_size.

void mrpt::poses::CPose3DQuat::fromString ( const std::string & s ) [inline]

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" )

See also:: asString

Exceptions:

std::exception On invalid format

Definition at line 201 of file CPose3DQuat.h.

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

void mrpt::poses::CPose3DQuat::getAsVector ( vector_double & v ) const

Returns a 1x7 vector with [x y z qr qx qy qz].

void mrpt::poses::CPose3DQuat::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const

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

See also:: getInverseHomogeneousMatrix

const type_value& mrpt::poses::CPose3DQuat::getPoseMean ( ) const [inline]

Definition at line 263 of file CPose3DQuat.h.

type_value& mrpt::poses::CPose3DQuat::getPoseMean ( ) [inline]

Definition at line 264 of file CPose3DQuat.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::poses::CPose3DQuat::inverseComposeFrom	(	const CPose3DQuat &	A,
		const CPose3DQuat &	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

Referenced by operator-().

void mrpt::poses::CPose3DQuat::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, 7 > *	out_jacobian_df_dpose = `NULL`
	)		const

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

See also:: composePoint, composeFrom

template<class POINT1 , class POINT2 >

void mrpt::poses::CPose3DQuat::inverseComposePoint	(	const POINT1 &	G,
		POINT2 &	L
	)		const `[inline]`

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

See also:: inverseComposePoint

Definition at line 143 of file CPose3DQuat.h.

References inverseComposePoint().

Referenced by inverseComposePoint().

static bool mrpt::poses::CPose3DQuat::is_3D ( ) [inline, static]

Definition at line 258 of file CPose3DQuat.h.

static bool mrpt::poses::CPose3DQuat::is_PDF ( ) [inline, static]

Definition at line 261 of file CPose3DQuat.h.

static size_type mrpt::poses::CPose3DQuat::max_size ( ) [inline, static]

Definition at line 278 of file CPose3DQuat.h.

References static_size.

virtual void mrpt::poses::CPose3DQuat::operator*= ( const double s ) [virtual]

Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).

CPoint3D mrpt::poses::CPose3DQuat::operator+ ( const CPoint3D & L ) const [inline]

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

See also:: composePoint

Definition at line 146 of file CPose3DQuat.h.

TPoint3D mrpt::poses::CPose3DQuat::operator+ ( const TPoint3D & L ) const [inline]

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

See also:: composePoint

Definition at line 149 of file CPose3DQuat.h.

CPose3DQuat mrpt::poses::CPose3DQuat::operator+ ( const CPose3DQuat & p ) const [inline]

Return the composed pose $ret = this \oplus p$ .

Definition at line 169 of file CPose3DQuat.h.

References composeFrom().

CPose3DQuat& mrpt::poses::CPose3DQuat::operator+= ( const CPose3DQuat & b ) [inline]

Make $this = this \oplus b$ .

Definition at line 162 of file CPose3DQuat.h.

CPose3D mrpt::poses::CPose::operator- ( const CPose3D & b ) const [inherited]

The operator $a \ominus b$ is the pose inverse compounding operator.

CPoint3D mrpt::poses::CPose3DQuat::operator- ( const CPoint3D & G ) const [inline]

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

See also:: inverseComposePoint

Definition at line 152 of file CPose3DQuat.h.

TPoint3D mrpt::poses::CPose3DQuat::operator- ( const TPoint3D & G ) const [inline]

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

See also:: inverseComposePoint

Definition at line 155 of file CPose3DQuat.h.

CPose3DQuat mrpt::poses::CPose3DQuat::operator- ( const CPose3DQuat & p ) const [inline]

Return the composed pose $ret = this \ominus p$ .

Definition at line 184 of file CPose3DQuat.h.

References inverseComposeFrom().

CPose3DQuat& mrpt::poses::CPose3DQuat::operator-= ( const CPose3DQuat & b ) [inline]

Make $this = this \ominus b$ .

Definition at line 177 of file CPose3DQuat.h.

const double& mrpt::poses::CPose3DQuat::operator[] ( unsigned int i ) const [inline]

Read only [] operator.

Definition at line 210 of file CPose3DQuat.h.

double& mrpt::poses::CPose3DQuat::operator[] ( unsigned int i ) [inline]

Read/write [] operator.

Definition at line 226 of file CPose3DQuat.h.

mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( ) [inline]

Read/Write access to the quaternion representing the 3D rotation.

Definition at line 74 of file CPose3DQuat.h.

const mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( ) const [inline]

Read-only access to the quaternion representing the 3D rotation.

Definition at line 76 of file CPose3DQuat.h.

reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( ) [inline]

Definition at line 424 of file CPose3DQuat.h.

References end().

const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( ) const [inline]

Definition at line 425 of file CPose3DQuat.h.

References end().

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

reverse_iterator mrpt::poses::CPose3DQuat::rend ( ) [inline]

Definition at line 426 of file CPose3DQuat.h.

References begin().

const_reverse_iterator mrpt::poses::CPose3DQuat::rend ( ) const [inline]

Definition at line 427 of file CPose3DQuat.h.

References begin().

static void mrpt::poses::CPose3DQuat::resize ( const size_t n ) [inline, static]

Definition at line 279 of file CPose3DQuat.h.

References static_size, and mrpt::format().

static size_type mrpt::poses::CPose3DQuat::size ( ) [inline, static]

Definition at line 276 of file CPose3DQuat.h.

References static_size.

void mrpt::poses::CPose3DQuat::sphericalCoordinates	(	const TPoint3D &	point,
		double &	out_range,
		double &	out_yaw,
		double &	out_pitch,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacob_dryp_dpoint = `NULL`,
		mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *	out_jacob_dryp_dpose = `NULL`
	)		const

Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.

For the coordinate system see the top of this page. If the matrix pointers are not NULL, the Jacobians will be also computed for the range-yaw-pitch variables wrt the passed 3D point and this 7D pose.

void mrpt::poses::CPose3DQuat::swap ( CPose3DQuat & o ) [inline]

Definition at line 430 of file CPose3DQuat.h.

References m_coords, and m_quat.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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