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 62 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 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 (TConstructorFlags_Quaternions constructor_dummy_param) | |
Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor. | |
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 CMatrixDouble44 &M) | |
Constructor from a 4x4 homogeneous transformation matrix. | |
void | getHomogeneousMatrix (CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). | |
void | getAsVector (vector_double &v) const |
Returns a 1x7 vector with [x y z qr qx qy qz]. | |
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 ![]() | |
TPoint3D | operator+ (const TPoint3D &L) const |
Computes the 3D point G such as ![]() | |
CPoint3D | operator- (const CPoint3D &G) const |
Computes the 3D point L such as ![]() | |
TPoint3D | operator- (const 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 | 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 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. | |
Static Public Member Functions | |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
CArrayDouble< 3 > | m_coords |
The translation vector [x,y,z]. | |
mrpt::math::CQuaternionDouble | m_quat |
The quaternion. | |
RTTI stuff | |
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 |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CPose3DQuatPtr | Create () |
STL-like methods and typedefs | |
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) |
typedef const double& mrpt::poses::CPose3DQuat::const_reference |
Definition at line 267 of file CPose3DQuat.h.
typedef std::reverse_iterator<const_iterator> mrpt::poses::CPose3DQuat::const_reverse_iterator |
Definition at line 416 of file CPose3DQuat.h.
typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type |
Definition at line 269 of file CPose3DQuat.h.
See ops_containers.h.
Definition at line 435 of file CPose3DQuat.h.
typedef double& mrpt::poses::CPose3DQuat::reference |
Definition at line 266 of file CPose3DQuat.h.
typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator |
Definition at line 415 of file CPose3DQuat.h.
typedef std::size_t mrpt::poses::CPose3DQuat::size_type |
Definition at line 268 of file CPose3DQuat.h.
A typedef for the associated smart pointer
Definition at line 65 of file CPose3DQuat.h.
Used to emulate CPosePDF types, for example, in CNetworkOfPoses.
Definition at line 255 of file CPose3DQuat.h.
typedef double mrpt::poses::CPose3DQuat::value_type |
The type of the elements.
Definition at line 265 of file CPose3DQuat.h.
anonymous enum |
Definition at line 256 of file CPose3DQuat.h.
anonymous enum |
Definition at line 258 of file CPose3DQuat.h.
anonymous enum |
Definition at line 259 of file CPose3DQuat.h.
anonymous enum |
Definition at line 272 of file CPose3DQuat.h.
mrpt::poses::CPose3DQuat::CPose3DQuat | ( | ) | [inline] |
Default constructor, initialize translation to zeros and quaternion to no rotation.
Definition at line 84 of file CPose3DQuat.h.
mrpt::poses::CPose3DQuat::CPose3DQuat | ( | TConstructorFlags_Quaternions | constructor_dummy_param | ) | [inline] |
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 87 of file CPose3DQuat.h.
mrpt::poses::CPose3DQuat::CPose3DQuat | ( | const double | x, |
const double | y, | ||
const double | z, | ||
const mrpt::math::CQuaternionDouble & | q | ||
) | [inline] |
Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.
Definition at line 90 of file CPose3DQuat.h.
References internal::y.
mrpt::poses::CPose3DQuat::CPose3DQuat | ( | const mrpt::math::TPose3DQuat & | p | ) | [inline] |
Constructor from lightweight object.
Definition at line 96 of file CPose3DQuat.h.
References mrpt::math::TPose3DQuat::x, mrpt::math::TPose3DQuat::y, internal::y, and mrpt::math::TPose3DQuat::z.
mrpt::poses::CPose3DQuat::CPose3DQuat | ( | const CMatrixDouble44 & | M | ) | [explicit] |
Constructor from a 4x4 homogeneous transformation matrix.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
void mrpt::poses::CPose3DQuat::assign | ( | const size_t | N, |
const double | val | ||
) | [inline] |
Definition at line 278 of file CPose3DQuat.h.
void mrpt::poses::CPose3DQuat::asString | ( | std::string & | s | ) | const [inline] |
Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.)
Definition at line 193 of file CPose3DQuat.h.
References mrpt::format().
std::string mrpt::poses::CPose3DQuat::asString | ( | ) | const [inline] |
iterator mrpt::poses::CPose3DQuat::begin | ( | ) | [inline] |
Definition at line 417 of file CPose3DQuat.h.
const_iterator mrpt::poses::CPose3DQuat::begin | ( | ) | const [inline] |
Definition at line 419 of file CPose3DQuat.h.
void mrpt::poses::CPose3DQuat::composeFrom | ( | const CPose3DQuat & | A, |
const CPose3DQuat & | B | ||
) |
Makes this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.
Referenced by operator+().
void mrpt::poses::CPose3DQuat::composePoint | ( | const POINT1 & | L, |
POINT2 & | G | ||
) | const [inline] |
Computes the 3D point G such as .
POINT1 and POINT1 can be anything supporing [0],[1],[2].
Definition at line 139 of file CPose3DQuat.h.
References composePoint().
Referenced by composePoint().
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 , |
||
mrpt::math::CMatrixFixedNumeric< double, 3, 7 > * | out_jacobian_df_dpose = NULL |
||
) | const |
Computes the 3D point G such as .
static CPose3DQuatPtr mrpt::poses::CPose3DQuat::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::poses::CPose3DQuat::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuat::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
static bool mrpt::poses::CPose3DQuat::empty | ( | ) | [inline, static] |
Definition at line 274 of file CPose3DQuat.h.
iterator mrpt::poses::CPose3DQuat::end | ( | ) | [inline] |
Definition at line 418 of file CPose3DQuat.h.
References static_size.
const_iterator mrpt::poses::CPose3DQuat::end | ( | ) | const [inline] |
Definition at line 420 of file CPose3DQuat.h.
References static_size.
void mrpt::poses::CPose3DQuat::fromString | ( | const std::string & | s | ) | [inline] |
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 200 of file CPose3DQuat.h.
References ASSERTMSG_, mrpt::math::size(), and THROW_EXCEPTION.
void mrpt::poses::CPose3DQuat::getAsVector | ( | vector_double & | v | ) | const |
Returns a 1x7 vector with [x y z qr qx qy qz].
void mrpt::poses::CPose3DQuat::getHomogeneousMatrix | ( | CMatrixDouble44 & | out_HM | ) | const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::poses::CPose3DQuat::inverseComposeFrom | ( | const CPose3DQuat & | A, |
const CPose3DQuat & | B | ||
) |
Makes this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
Referenced by operator-().
void mrpt::poses::CPose3DQuat::inverseComposePoint | ( | const POINT1 & | G, |
POINT2 & | L | ||
) | const [inline] |
Computes the 3D point L such as .
Definition at line 142 of file CPose3DQuat.h.
References inverseComposePoint().
Referenced by inverseComposePoint().
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 , |
||
mrpt::math::CMatrixFixedNumeric< double, 3, 7 > * | out_jacobian_df_dpose = NULL |
||
) | const |
Computes the 3D point L such as .
static bool mrpt::poses::CPose3DQuat::is_3D | ( | ) | [inline, static] |
Definition at line 257 of file CPose3DQuat.h.
static bool mrpt::poses::CPose3DQuat::is_PDF | ( | ) | [inline, static] |
Definition at line 260 of file CPose3DQuat.h.
static size_type mrpt::poses::CPose3DQuat::max_size | ( | ) | [inline, static] |
Definition at line 275 of file CPose3DQuat.h.
References static_size.
virtual void mrpt::poses::CPose3DQuat::operator*= | ( | const double | s | ) | [virtual] |
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 145 of file CPose3DQuat.h.
Computes the 3D point G such as .
Definition at line 148 of file CPose3DQuat.h.
CPose3DQuat mrpt::poses::CPose3DQuat::operator+ | ( | const CPose3DQuat & | p | ) | const [inline] |
CPose3DQuat& mrpt::poses::CPose3DQuat::operator+= | ( | const CPose3DQuat & | b | ) | [inline] |
Make .
Definition at line 161 of file CPose3DQuat.h.
Computes the 3D point L such as .
Definition at line 154 of file CPose3DQuat.h.
Computes the 3D point L such as .
Definition at line 151 of file CPose3DQuat.h.
CPose3DQuat mrpt::poses::CPose3DQuat::operator- | ( | const CPose3DQuat & | p | ) | const [inline] |
Return the composed pose .
Definition at line 183 of file CPose3DQuat.h.
References inverseComposeFrom().
CPose3DQuat& mrpt::poses::CPose3DQuat::operator-= | ( | const CPose3DQuat & | b | ) | [inline] |
Make .
Definition at line 176 of file CPose3DQuat.h.
double& mrpt::poses::CPose3DQuat::operator[] | ( | unsigned int | i | ) | [inline] |
Read/write [] operator.
Definition at line 225 of file CPose3DQuat.h.
const double& mrpt::poses::CPose3DQuat::operator[] | ( | unsigned int | i | ) | const [inline] |
Read only [] operator.
Definition at line 209 of file CPose3DQuat.h.
mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat | ( | ) | [inline] |
Read/Write access to the quaternion representing the 3D rotation.
Definition at line 73 of file CPose3DQuat.h.
const mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat | ( | ) | const [inline] |
Read-only access to the quaternion representing the 3D rotation.
Definition at line 75 of file CPose3DQuat.h.
reverse_iterator mrpt::poses::CPose3DQuat::rbegin | ( | ) | [inline] |
Definition at line 421 of file CPose3DQuat.h.
References end().
const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin | ( | ) | const [inline] |
Definition at line 422 of file CPose3DQuat.h.
References end().
const_reverse_iterator mrpt::poses::CPose3DQuat::rend | ( | ) | const [inline] |
Definition at line 424 of file CPose3DQuat.h.
References begin().
reverse_iterator mrpt::poses::CPose3DQuat::rend | ( | ) | [inline] |
Definition at line 423 of file CPose3DQuat.h.
References begin().
static void mrpt::poses::CPose3DQuat::resize | ( | const size_t | n | ) | [inline, static] |
Definition at line 276 of file CPose3DQuat.h.
References mrpt::format(), and static_size.
static size_type mrpt::poses::CPose3DQuat::size | ( | ) | [inline, static] |
Definition at line 273 of file CPose3DQuat.h.
References static_size.
void mrpt::poses::CPose3DQuat::sphericalCoordinates | ( | const 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.
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.
void mrpt::poses::CPose3DQuat::swap | ( | CPose3DQuat & | o | ) | [inline] |
Definition at line 427 of file CPose3DQuat.h.
const mrpt::math::CArrayDouble<3>& mrpt::poses::CPose3DQuat::xyz | ( | ) | const [inline] |
Read-only access to the translation vector in R^3.
Definition at line 80 of file CPose3DQuat.h.
mrpt::math::CArrayDouble<3>& mrpt::poses::CPose3DQuat::xyz | ( | ) | [inline] |
Read/Write access to the translation vector in R^3.
Definition at line 78 of file CPose3DQuat.h.
mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuat::_init_CPose3DQuat [static, protected] |
Definition at line 65 of file CPose3DQuat.h.
Definition at line 65 of file CPose3DQuat.h.
const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::classinfo [static] |
Definition at line 65 of file CPose3DQuat.h.
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