mrpt::math::TPose3D Struct Reference

Detailed Description

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

Allows coordinate access using [] operator.

See Also

mrpt::poses::CPose3D

Definition at line 431 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
	TPose3D (const TPoint2D &p)
	Implicit constructor from TPoint2D.
	TPose3D (const TPose2D &p)
	Implicit constructor from TPose2D.
	TPose3D (const TPoint3D &p)
	Implicit constructor from TPoint3D.
	TPose3D (const mrpt::poses::CPose3D &p)
	Implicit constructor from heavyweight type.
	TPose3D (double _x, double _y, double _z, double _yaw, double _pitch, double _roll)
	Constructor from coordinates.
	TPose3D ()
	Default fast constructor.
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 (eg: "[x y z yaw pitch roll]", 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]" )

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	z
	Z coordinate.
double	yaw
	Yaw coordinate (rotation angle over Z axis).
double	pitch
	Pitch coordinate (rotation angle over Y axis).
double	roll
	Roll coordinate (rotation angle over X coordinate).

Constructor & Destructor Documentation

mrpt::math::TPose3D::TPose3D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes all the unprovided information.

See Also

TPoint2D

mrpt::math::TPose3D::TPose3D

(

const TPose2D &

p

)

Implicit constructor from TPose2D.

Gets the yaw from the 2D pose's phi, zeroing all the unprovided information.

See Also

TPose2D

mrpt::math::TPose3D::TPose3D

(

const TPoint3D &

p

)

Implicit constructor from TPoint3D.

Zeroes angular information.

See Also

TPoint3D

mrpt::math::TPose3D::TPose3D

(

const mrpt::poses::CPose3D &

p

)

Implicit constructor from heavyweight type.

See Also

mrpt::poses::CPose3D

mrpt::math::TPose3D::TPose3D ( double  _x, double  _y, double  _z, double  _yaw, double  _pitch, double  _roll  )

inline

Constructor from coordinates.

Definition at line 479 of file lightweight_geom_data.h.

mrpt::math::TPose3D::TPose3D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 483 of file lightweight_geom_data.h.

Member Function Documentation

void mrpt::math::TPose3D::asString ( std::string &  s ) const

inline

Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.)

See Also

fromString

Definition at line 512 of file lightweight_geom_data.h.

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

std::string mrpt::math::TPose3D::asString ( ) const

inline

Definition at line 513 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPose3D::fromString

(

const std::string &

s

)

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

See Also

asString

Exceptions

std::exception

On invalid format

void mrpt::math::TPose3D::getAsVector ( vector_double &  v ) const

inline

Gets the pose as a vector of doubles.

Definition at line 505 of file lightweight_geom_data.h.

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

double mrpt::math::TPose3D::norm ( ) const

inline

Pose's spatial coordinates norm.

Definition at line 499 of file lightweight_geom_data.h.

References mrpt::utils::square().

double& mrpt::math::TPose3D::operator[] ( size_t  i )

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 487 of file lightweight_geom_data.h.

const double& mrpt::math::TPose3D::operator[] ( size_t  i ) const

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 493 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose3D::size ( )

inlinestatic

Definition at line 520 of file lightweight_geom_data.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

Member Data Documentation

double mrpt::math::TPose3D::pitch

Pitch coordinate (rotation angle over Y axis).

Definition at line 451 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose3D::roll

Roll coordinate (rotation angle over X coordinate).

Definition at line 455 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose3D::x

X coordinate.

Definition at line 435 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose3D::y

Y coordinate.

Definition at line 439 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose3D::yaw

Yaw coordinate (rotation angle over Z axis).

Definition at line 447 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose3D::z

Z coordinate.

Definition at line 443 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator!=(), and mrpt::math::operator==().