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mrpt::poses::CPose< DERIVEDCLASS > Class Template Reference
2D/3D points and poses

Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPose< DERIVEDCLASS >

A base class for representing a pose in 2D or 3D.

For more information refer to the 2D/3D Geometry tutorial online.

Note
This class is based on the CRTP design pattern
See Also
CPoseOrPoint, CPoint

Definition at line 44 of file CPose.h.

#include <mrpt/poses/CPose.h>

Inheritance diagram for mrpt::poses::CPose< DERIVEDCLASS >:
Inheritance graph
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Public Member Functions

CPose3D operator- (const CPose3D &b) const
 The operator $ a \ominus b $ is the pose inverse compounding operator.
 
double x () const
 Common members of all points & poses classes.
 
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)
 
template<class OTHERCLASS >
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the squared euclidean distance to another pose/point:
 
template<class OTHERCLASS >
double distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the Euclidean distance to another pose/point:
 
double distanceTo (const mrpt::math::TPoint3D &b) const
 Returns the euclidean distance to a 3D point:
 
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).
 
double distance3DToSquare (double ax, double ay, double az) const
 Returns the squared 3D distance from this pose/point to a 3D point.
 
double distance2DTo (double ax, double ay) const
 Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
 
double distance3DTo (double ax, double ay, double az) const
 Returns the 3D distance from this pose/point to a 3D point.
 
double norm () const
 Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.
 
vector_double getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
 
CMatrixDouble44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
 
void getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
 
mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise.
 

Member Function Documentation

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 184 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 176 of file CPoseOrPoint.h.

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

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

Definition at line 187 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 179 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 170 of file CPoseOrPoint.h.

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

Returns the euclidean distance to a 3D point:

Definition at line 190 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
vector_double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 199 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See Also
getInverseHomogeneousMatrix

Definition at line 209 of file CPoseOrPoint.h.

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

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

See Also
getHomogeneousMatrix

Definition at line 219 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPose< DERIVEDCLASS >::operator-().

template<class DERIVEDCLASS>
mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( ) const
inlineinherited

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

Definition at line 226 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint ( )
inlinestaticinherited

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

Definition at line 149 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo().

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm ( ) const
inlineinherited

Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.

Definition at line 193 of file CPoseOrPoint.h.

template<class DERIVEDCLASS >
CPose3D mrpt::poses::CPose< DERIVEDCLASS >::operator- ( const CPose3D &  b) const

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

Definition at line 528 of file CPose3D.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

template<class DERIVEDCLASS>
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 152 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CPointsMap::insertPoint(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::slam::CColouredPointsMap::setPoint(), mrpt::slam::CPointsMap::setPoint(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().

template<class DERIVEDCLASS>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( )
inlineinherited

Definition at line 138 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 141 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 144 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) const
inlineinherited

< Get Y coord.

Definition at line 136 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CPointsMap::insertPoint(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::operator<(), mrpt::slam::CColouredPointsMap::setPoint(), mrpt::slam::CPointsMap::setPoint(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().

template<class DERIVEDCLASS>
double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( )
inlineinherited

Definition at line 139 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 142 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 145 of file CPoseOrPoint.h.



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