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 426 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

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 474 of file lightweight_geom_data.h.

mrpt::math::TPose3D::TPose3D

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 478 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 507 of file lightweight_geom_data.h.

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

std::string mrpt::math::TPose3D::asString

(

)

const [inline]

Definition at line 508 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 500 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize(), and internal::y.

double mrpt::math::TPose3D::norm

(

)

const [inline]

Pose's spatial coordinates norm.

Definition at line 494 of file lightweight_geom_data.h.

References sqrt(), square(), and internal::y.

const double& mrpt::math::TPose3D::operator[]

(

size_t

i )

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 488 of file lightweight_geom_data.h.

double& mrpt::math::TPose3D::operator[]

(

size_t

i )

[inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 482 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose3D::size

(

)

[inline, static]

Definition at line 515 of file lightweight_geom_data.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_replaceByNewParticleSet().

---

Member Data Documentation

double mrpt::math::TPose3D::pitch

Pitch coordinate (rotation angle over Y axis).

Definition at line 446 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 450 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 430 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 434 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 442 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 438 of file lightweight_geom_data.h.

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