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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::exceptionOn 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]

Member Data Documentation

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==().

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==().

X coordinate.

Definition at line 430 of file lightweight_geom_data.h.

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

Y coordinate.

Definition at line 434 of file lightweight_geom_data.h.

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

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==().

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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