mrpt::math::TPose3DQuat Struct Reference

Detailed Description

Lightweight 3D pose (three spatial coordinates, plus a quaternion ).

Allows coordinate access using [] operator.

See Also

mrpt::poses::CPose3DQuat

Definition at line 526 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
	TPose3DQuat (double _x, double _y, double _z, double _qr, double _qx, double _qy, double _qz)
	Constructor from coordinates.
	TPose3DQuat ()
	Default fast constructor.
	TPose3DQuat (const mrpt::poses::CPose3DQuat &p)
	Constructor from a CPose3DQuat.
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[].
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[].
double	norm () const
	Pose's spatial coordinates norm.
void	getAsVector (vector_double &v) const
	Gets the pose as a vector of doubles.
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".
std::string	asString () const
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" )

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	Translation in x.
double	y
	Translation in y.
double	z
	Translation in z.
double	qr
	Quaternion part, r.
double	qx
	Quaternion part, x.
double	qy
	Quaternion part, y.
double	qz
	Quaternion part, z.

Constructor & Destructor Documentation

mrpt::math::TPose3DQuat::TPose3DQuat ( double  _x, double  _y, double  _z, double  _qr, double  _qx, double  _qy, double  _qz  )

inline

Constructor from coordinates.

Definition at line 536 of file lightweight_geom_data.h.

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

inline

Default fast constructor.

Initializes to garbage.

Definition at line 538 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat

(

const mrpt::poses::CPose3DQuat &

p

)

Constructor from a CPose3DQuat.

Member Function Documentation

void mrpt::math::TPose3DQuat::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".

See Also

fromString

Definition at line 562 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

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

inline

Definition at line 563 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPose3DQuat::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1.0 0.0 0.0 0.0]" )

See Also

asString

Exceptions

std::exception

On invalid format

void mrpt::math::TPose3DQuat::getAsVector ( vector_double &  v ) const

inline

Gets the pose as a vector of doubles.

Definition at line 555 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize().

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

inline

Pose's spatial coordinates norm.

Definition at line 551 of file lightweight_geom_data.h.

References mrpt::utils::square().

double& mrpt::math::TPose3DQuat::operator[] ( size_t  i )

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 543 of file lightweight_geom_data.h.

const double& mrpt::math::TPose3DQuat::operator[] ( size_t  i ) const

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 547 of file lightweight_geom_data.h.

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

inlinestatic

Definition at line 570 of file lightweight_geom_data.h.

Member Data Documentation

double mrpt::math::TPose3DQuat::qr

Quaternion part, r.

Definition at line 530 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qx

Quaternion part, x.

Definition at line 531 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qy

Quaternion part, y.

Definition at line 532 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qz

Quaternion part, z.

Definition at line 533 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::x

Translation in x.

Definition at line 527 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

double mrpt::math::TPose3DQuat::y

Translation in y.

Definition at line 528 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

double mrpt::math::TPose3DQuat::z

Translation in z.

Definition at line 529 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().