A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.
To access the translation use x(), y() and z(). To access the rotation, use CPose3DQuat::quat().
This class also behaves like a STL container, since it has begin(), end(), iterators, and can be accessed with the [] operator with indices running from 0 to 6 to access the [x y z qr qx qy qz] as if they were a vector. Thus, a CPose3DQuat can be used as a 7-vector anywhere the MRPT math functions expect any kind of vector.
This class and CPose3D are very similar, and they can be converted to the each other automatically via transformation constructors.
Definition at line 41 of file CPose3DQuat.h.
#include <mrpt/poses/CPose3DQuat.h>
Classes | |
struct | const_iterator |
struct | iterator |
Public Types | |
enum | { is_3D_val = 1 } |
enum | { rotation_dimensions = 3 } |
enum | { is_PDF_val = 1 } |
typedef CPose3DQuat | type_value |
Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. | |
typedef CPose3DQuat | mrpt_autotype |
See ops_containers.h. | |
Public Member Functions | |
mrpt::math::CQuaternionDouble & | quat () |
Read/Write access to the quaternion representing the 3D rotation. | |
const mrpt::math::CQuaternionDouble & | quat () const |
Read-only access to the quaternion representing the 3D rotation. | |
mrpt::math::CArrayDouble< 3 > & | xyz () |
Read/Write access to the translation vector in R^3. | |
const mrpt::math::CArrayDouble< 3 > & | xyz () const |
Read-only access to the translation vector in R^3. | |
CPose3DQuat () | |
Default constructor, initialize translation to zeros and quaternion to no rotation. | |
CPose3DQuat (mrpt::math::TConstructorFlags_Quaternions) | |
Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor. | |
CPose3DQuat (TConstructorFlags_Poses) | |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
CPose3DQuat (const double x, const double y, const double z, const mrpt::math::CQuaternionDouble &q) | |
Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary. | |
CPose3DQuat (const CPose3D &p) | |
Constructor from a CPose3D. | |
CPose3DQuat (const mrpt::math::TPose3DQuat &p) | |
Constructor from lightweight object. | |
CPose3DQuat (const mrpt::math::CMatrixDouble44 &M) | |
Constructor from a 4x4 homogeneous transformation matrix. | |
void | getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). | |
void | getAsVector (mrpt::math::CVectorDouble &v) const |
Returns a 1x7 vector with [x y z qr qx qy qz]. | |
void | getAsVector (mrpt::math::CArrayDouble< 7 > &v) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | composeFrom (const CPose3DQuat &A, const CPose3DQuat &B) |
Makes ![]() | |
void | inverseComposeFrom (const CPose3DQuat &A, const CPose3DQuat &B) |
Makes ![]() | |
void | composePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacobian_df_dpose=NULL) const |
Computes the 3D point G such as ![]() | |
void | inverseComposePoint (const double gx, const double gy, const double gz, double &lx, double &ly, double &lz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacobian_df_dpose=NULL) const |
Computes the 3D point L such as ![]() | |
template<class POINT1 , class POINT2 > | |
void | composePoint (const POINT1 &L, POINT2 &G) const |
Computes the 3D point G such as ![]() | |
template<class POINT1 , class POINT2 > | |
void | inverseComposePoint (const POINT1 &G, POINT2 &L) const |
Computes the 3D point L such as ![]() | |
CPoint3D | operator+ (const CPoint3D &L) const |
Computes the 3D point G such as ![]() | |
mrpt::math::TPoint3D | operator+ (const mrpt::math::TPoint3D &L) const |
Computes the 3D point G such as ![]() | |
CPoint3D | operator- (const CPoint3D &G) const |
Computes the 3D point L such as ![]() | |
mrpt::math::TPoint3D | operator- (const mrpt::math::TPoint3D &G) const |
Computes the 3D point L such as ![]() | |
virtual void | operator*= (const double s) |
Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar). | |
CPose3DQuat & | operator+= (const CPose3DQuat &b) |
Make ![]() | |
CPose3DQuat | operator+ (const CPose3DQuat &p) const |
Return the composed pose ![]() | |
CPose3DQuat & | operator-= (const CPose3DQuat &b) |
Make ![]() | |
CPose3DQuat | operator- (const CPose3DQuat &p) const |
Return the composed pose ![]() | |
void | inverse () |
Convert this pose into its inverse, saving the result in itself. | |
void | asString (std::string &s) const |
Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", 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 1 0 0 0]" ) | |
const double & | operator[] (unsigned int i) const |
Read only [] operator. | |
double & | operator[] (unsigned int i) |
Read/write [] operator. | |
void | sphericalCoordinates (const mrpt::math::TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacob_dryp_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 7 > *out_jacob_dryp_dpose=NULL) const |
Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. | |
const type_value & | getPoseMean () const |
type_value & | getPoseMean () |
void | setToNaN () MRPT_OVERRIDE |
Set all data fields to quiet NaN. | |
Static Public Member Functions | |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
mrpt::math::CArrayDouble< 3 > | m_coords |
The translation vector [x,y,z]. | |
mrpt::math::CQuaternionDouble | m_quat |
The quaternion. | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
STL-like methods and typedefs | |
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enum | { static_size = 7 } |
typedef double | value_type |
The type of the elements. | |
typedef double & | reference |
typedef const double & | const_reference |
typedef std::size_t | size_type |
typedef std::ptrdiff_t | difference_type |
typedef std::reverse_iterator< iterator > | reverse_iterator |
typedef std::reverse_iterator< const_iterator > | const_reverse_iterator |
void | assign (const size_t N, const double val) |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
reverse_iterator | rbegin () |
const_reverse_iterator | rbegin () const |
reverse_iterator | rend () |
const_reverse_iterator | rend () const |
void | swap (CPose3DQuat &o) |
static size_type | size () |
static bool | empty () |
static size_type | max_size () |
static void | resize (const size_t n) |
RTTI stuff <br> | |
typedef CPose3DQuatPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPose3DQuat |
static mrpt::utils::TRuntimeClassId | classCPose3DQuat |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CPose3DQuatPtr | Create () |
double | x () const |
Common members of all points & poses classes. | |
double & | x () |
void | x (const double v) |
double | y () const |
double & | y () |
void | y (const double v) |
void | x_incr (const double v) |
void | y_incr (const double v) |
template<class OTHERCLASS > | |
double | sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the squared euclidean distance to another pose/point: | |
template<class OTHERCLASS > | |
double | distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the Euclidean distance to another pose/point: | |
double | distanceTo (const mrpt::math::TPoint3D &b) const |
Returns the euclidean distance to a 3D point: | |
double | distance2DToSquare (double ax, double ay) const |
Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). | |
double | distance3DToSquare (double ax, double ay, double az) const |
Returns the squared 3D distance from this pose/point to a 3D point. | |
double | distance2DTo (double ax, double ay) const |
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). | |
double | distance3DTo (double ax, double ay, double az) const |
Returns the 3D distance from this pose/point to a 3D point. | |
double | norm () const |
Returns the euclidean norm of vector: ![]() | |
mrpt::math::CVectorDouble | getAsVectorVal () const |
Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) | |
mrpt::math::CMatrixDouble44 | getHomogeneousMatrixVal () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). | |
void | getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. | |
mrpt::math::CMatrixDouble44 | getInverseHomogeneousMatrix () const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
static bool | is3DPoseOrPoint () |
Return true for poses or points with a Z component, false otherwise. | |
typedef const double& mrpt::poses::CPose3DQuat::const_reference |
Definition at line 258 of file CPose3DQuat.h.
typedef std::reverse_iterator<const_iterator> mrpt::poses::CPose3DQuat::const_reverse_iterator |
Definition at line 411 of file CPose3DQuat.h.
typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type |
Definition at line 260 of file CPose3DQuat.h.
See ops_containers.h.
Definition at line 430 of file CPose3DQuat.h.
typedef double& mrpt::poses::CPose3DQuat::reference |
Definition at line 257 of file CPose3DQuat.h.
typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator |
Definition at line 410 of file CPose3DQuat.h.
typedef std::size_t mrpt::poses::CPose3DQuat::size_type |
Definition at line 259 of file CPose3DQuat.h.
A typedef for the associated smart pointer
Definition at line 44 of file CPose3DQuat.h.
Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.
Definition at line 244 of file CPose3DQuat.h.
typedef double mrpt::poses::CPose3DQuat::value_type |
The type of the elements.
Definition at line 256 of file CPose3DQuat.h.
anonymous enum |
Enumerator | |
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is_3D_val |
Definition at line 245 of file CPose3DQuat.h.
anonymous enum |
Enumerator | |
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rotation_dimensions |
Definition at line 247 of file CPose3DQuat.h.
anonymous enum |
Enumerator | |
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is_PDF_val |
Definition at line 248 of file CPose3DQuat.h.
anonymous enum |
Enumerator | |
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static_size |
Definition at line 263 of file CPose3DQuat.h.
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Default constructor, initialize translation to zeros and quaternion to no rotation.
Definition at line 63 of file CPose3DQuat.h.
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Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor.
Definition at line 66 of file CPose3DQuat.h.
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 68 of file CPose3DQuat.h.
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Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.
Definition at line 71 of file CPose3DQuat.h.
References mrpt::math::CQuaternion< T >::normalize().
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Constructor from lightweight object.
Definition at line 77 of file CPose3DQuat.h.
References mrpt::math::TPose3DQuat::x, mrpt::math::TPose3DQuat::y, and mrpt::math::TPose3DQuat::z.
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Constructor from a 4x4 homogeneous transformation matrix.
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Definition at line 269 of file CPose3DQuat.h.
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Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.)
Definition at line 182 of file CPose3DQuat.h.
References mrpt::format().
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Definition at line 412 of file CPose3DQuat.h.
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Definition at line 414 of file CPose3DQuat.h.
void mrpt::poses::CPose3DQuat::composeFrom | ( | const CPose3DQuat & | A, |
const CPose3DQuat & | B | ||
) |
Makes
Referenced by operator+().
void mrpt::poses::CPose3DQuat::composePoint | ( | const double | lx, |
const double | ly, | ||
const double | lz, | ||
double & | gx, | ||
double & | gy, | ||
double & | gz, | ||
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > * | out_jacobian_df_dpoint = NULL , |
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mrpt::math::CMatrixFixedNumeric< double, 3, 7 > * | out_jacobian_df_dpose = NULL |
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) | const |
Computes the 3D point G such as
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Computes the 3D point G such as
POINT1 and POINT1 can be anything supporing [0],[1],[2].
Definition at line 125 of file CPose3DQuat.h.
References composePoint().
Referenced by composePoint().
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Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
Definition at line 165 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare().
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Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
Definition at line 156 of file CPoseOrPoint.h.
References mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo().
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Returns the 3D distance from this pose/point to a 3D point.
Definition at line 168 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().
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inlineinherited |
Returns the squared 3D distance from this pose/point to a 3D point.
Definition at line 159 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo().
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Returns the Euclidean distance to another pose/point:
Definition at line 150 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().
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Returns the euclidean distance to a 3D point:
Definition at line 171 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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Definition at line 265 of file CPose3DQuat.h.
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Definition at line 413 of file CPose3DQuat.h.
References static_size.
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Definition at line 415 of file CPose3DQuat.h.
References static_size.
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Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" )
std::exception | On invalid format |
Definition at line 189 of file CPose3DQuat.h.
References ASSERTMSG_, mrpt::math::size(), and THROW_EXCEPTION.
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 91 of file CPose3DQuat.h.
void mrpt::poses::CPose3DQuat::getAsVector | ( | mrpt::math::CVectorDouble & | v | ) | const |
Returns a 1x7 vector with [x y z qr qx qy qz].
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Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
Definition at line 181 of file CPoseOrPoint.h.
void mrpt::poses::CPose3DQuat::getHomogeneousMatrix | ( | mrpt::math::CMatrixDouble44 & | out_HM | ) | const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
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Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
Definition at line 191 of file CPoseOrPoint.h.
References mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 208 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix().
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Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
Definition at line 201 of file CPoseOrPoint.h.
References mrpt::math::homogeneousMatrixInverse().
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Definition at line 252 of file CPose3DQuat.h.
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Definition at line 251 of file CPose3DQuat.h.
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void mrpt::poses::CPose3DQuat::inverse | ( | ) |
Convert this pose into its inverse, saving the result in itself.
void mrpt::poses::CPose3DQuat::inverseComposeFrom | ( | const CPose3DQuat & | A, |
const CPose3DQuat & | B | ||
) |
Makes
Referenced by operator-().
void mrpt::poses::CPose3DQuat::inverseComposePoint | ( | const double | gx, |
const double | gy, | ||
const double | gz, | ||
double & | lx, | ||
double & | ly, | ||
double & | lz, | ||
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > * | out_jacobian_df_dpoint = NULL , |
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mrpt::math::CMatrixFixedNumeric< double, 3, 7 > * | out_jacobian_df_dpose = NULL |
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) | const |
Computes the 3D point L such as
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Computes the 3D point L such as
Definition at line 128 of file CPose3DQuat.h.
References inverseComposePoint().
Referenced by inverseComposePoint().
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Return true for poses or points with a Z component, false otherwise.
Definition at line 127 of file CPoseOrPoint.h.
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::operator<<(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().
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Definition at line 246 of file CPose3DQuat.h.
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inlinestatic |
Definition at line 249 of file CPose3DQuat.h.
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inlinestatic |
Definition at line 266 of file CPose3DQuat.h.
References static_size.
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Returns the euclidean norm of vector:
Definition at line 174 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
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Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).
Computes the 3D point G such as
Definition at line 131 of file CPose3DQuat.h.
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Computes the 3D point G such as
Definition at line 134 of file CPose3DQuat.h.
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Make
Definition at line 147 of file CPose3DQuat.h.
Computes the 3D point L such as
Definition at line 137 of file CPose3DQuat.h.
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Return the composed pose
Definition at line 169 of file CPose3DQuat.h.
References inverseComposeFrom().
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Computes the 3D point L such as
Definition at line 140 of file CPose3DQuat.h.
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Make
Definition at line 162 of file CPose3DQuat.h.
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Read/write [] operator.
Definition at line 214 of file CPose3DQuat.h.
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Read only [] operator.
Definition at line 198 of file CPose3DQuat.h.
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Read/Write access to the quaternion representing the 3D rotation.
Definition at line 52 of file CPose3DQuat.h.
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Read-only access to the quaternion representing the 3D rotation.
Definition at line 54 of file CPose3DQuat.h.
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Definition at line 416 of file CPose3DQuat.h.
References end().
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Definition at line 417 of file CPose3DQuat.h.
References end().
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Definition at line 418 of file CPose3DQuat.h.
References begin().
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Definition at line 419 of file CPose3DQuat.h.
References begin().
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inlinestatic |
Definition at line 267 of file CPose3DQuat.h.
References mrpt::format(), and static_size.
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Set all data fields to quiet NaN.
Implements mrpt::poses::CPoseOrPoint< DERIVEDCLASS >.
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Definition at line 264 of file CPose3DQuat.h.
References static_size.
void mrpt::poses::CPose3DQuat::sphericalCoordinates | ( | const mrpt::math::TPoint3D & | point, |
double & | out_range, | ||
double & | out_yaw, | ||
double & | out_pitch, | ||
mrpt::math::CMatrixFixedNumeric< double, 3, 3 > * | out_jacob_dryp_dpoint = NULL , |
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mrpt::math::CMatrixFixedNumeric< double, 3, 7 > * | out_jacob_dryp_dpose = NULL |
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) | const |
Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.
For the coordinate system see the top of this page. If the matrix pointers are not NULL, the Jacobians will be also computed for the range-yaw-pitch variables wrt the passed 3D point and this 7D pose.
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Returns the squared euclidean distance to another pose/point:
Definition at line 130 of file CPoseOrPoint.h.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint(), mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().
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Definition at line 422 of file CPose3DQuat.h.
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Definition at line 116 of file CPoseOrPoint.h.
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Common members of all points & poses classes.
< Get X coord.
Definition at line 113 of file CPoseOrPoint.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix(), mrpt::utils::CRobotSimulator::getX(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CColouredPointsMap::insertPoint(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().
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inlineinherited |
v | Set X coord. |
Definition at line 119 of file CPoseOrPoint.h.
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inlineinherited |
v | X+=v |
Definition at line 122 of file CPoseOrPoint.h.
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inline |
Read/Write access to the translation vector in R^3.
Definition at line 57 of file CPose3DQuat.h.
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inline |
Read-only access to the translation vector in R^3.
Definition at line 59 of file CPose3DQuat.h.
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inlineinherited |
Definition at line 117 of file CPoseOrPoint.h.
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inlineinherited |
< Get Y coord.
Definition at line 114 of file CPoseOrPoint.h.
Referenced by mrpt::poses::CPoint< DERIVEDCLASS >::asString(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< DERIVEDCLASS >::getHomogeneousMatrix(), mrpt::utils::CRobotSimulator::getY(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::maps::CColouredPointsMap::insertPoint(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::operator<(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().
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inlineinherited |
v | Set Y coord. |
Definition at line 120 of file CPoseOrPoint.h.
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inlineinherited |
v | Y+=v |
Definition at line 123 of file CPoseOrPoint.h.
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staticprotected |
Definition at line 44 of file CPose3DQuat.h.
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Definition at line 44 of file CPose3DQuat.h.
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Definition at line 44 of file CPose3DQuat.h.
mrpt::math::CArrayDouble<3> mrpt::poses::CPose3DQuat::m_coords |
mrpt::math::CQuaternionDouble mrpt::poses::CPose3DQuat::m_quat |
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