mrpt::math::TPose3DQuat Struct Reference

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Detailed Description

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

Allows coordinate access using [] operator.

See also:

mrpt::poses::CPose3DQuat

Definition at line 521 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

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.

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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 531 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 533 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat

(

const mrpt::poses::CPose3DQuat &

p )

Constructor from a CPose3DQuat.

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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 557 of file lightweight_geom_data.h.

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

std::string mrpt::math::TPose3DQuat::asString

(

)

const [inline]

Definition at line 558 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 550 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 546 of file lightweight_geom_data.h.

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

const double& mrpt::math::TPose3DQuat::operator[]

(

size_t

i )

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 542 of file lightweight_geom_data.h.

double& mrpt::math::TPose3DQuat::operator[]

(

size_t

i )

[inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 538 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose3DQuat::size

(

)

[inline, static]

Definition at line 565 of file lightweight_geom_data.h.

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Member Data Documentation

double mrpt::math::TPose3DQuat::qr

Quaternion part, r.

Definition at line 525 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qx

Quaternion part, x.

Definition at line 526 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qy

Quaternion part, y.

Definition at line 527 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qz

Quaternion part, z.

Definition at line 528 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::x

Translation in x.

Definition at line 522 of file lightweight_geom_data.h.

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

double mrpt::math::TPose3DQuat::y

Translation in y.

Definition at line 523 of file lightweight_geom_data.h.

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

double mrpt::math::TPose3DQuat::z

Translation in z.

Definition at line 524 of file lightweight_geom_data.h.

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