Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Allows coordinate access using [] operator.
Definition at line 426 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). |
mrpt::math::TPose3D::TPose3D | ( | const TPoint2D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const TPose2D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const TPoint3D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const mrpt::poses::CPose3D & | p | ) |
Implicit constructor from heavyweight type.
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.
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.)
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]" )
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().
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==().
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