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mrpt::poses::CPose3DQuat Class Reference


Detailed Description

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.

See also:
CPose3D (for a class based on a 4x4 matrix instead of a quaternion), mrpt::math::TPose3DQuat, mrpt::poses::CPose3DQuatPDF for a probabilistic version of this class, mrpt::math::CQuaternion, CPoseOrPoint

Definition at line 62 of file CPose3DQuat.h.

#include <mrpt/poses/CPose3DQuat.h>

Inheritance diagram for mrpt::poses::CPose3DQuat:
Inheritance graph
[legend]

List of all members.

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::CQuaternionDoublequat ()
 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 $ this = A \oplus B $ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.
void inverseComposeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
 Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
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 $ G = this \oplus L $.
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 $ L = G \ominus this $.
template<class POINT1 , class POINT2 >
void composePoint (const POINT1 &L, POINT2 &G) const
 Computes the 3D point G such as $ G = this \oplus L $.
template<class POINT1 , class POINT2 >
void inverseComposePoint (const POINT1 &G, POINT2 &L) const
 Computes the 3D point L such as $ L = G \ominus this $.
CPoint3D operator+ (const CPoint3D &L) const
 Computes the 3D point G such as $ G = this \oplus L $.
TPoint3D operator+ (const TPoint3D &L) const
 Computes the 3D point G such as $ G = this \oplus L $.
CPoint3D operator- (const CPoint3D &G) const
 Computes the 3D point L such as $ L = G \ominus this $.
TPoint3D operator- (const TPoint3D &G) const
 Computes the 3D point L such as $ L = G \ominus this $.
virtual void operator*= (const double s)
 Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).
CPose3DQuatoperator+= (const CPose3DQuat &b)
 Make $ this = this \oplus b $.
CPose3DQuat operator+ (const CPose3DQuat &p) const
 Return the composed pose $ ret = this \oplus p $.
CPose3DQuatoperator-= (const CPose3DQuat &b)
 Make $ this = this \ominus b $.
CPose3DQuat operator- (const CPose3DQuat &p) const
 Return the composed pose $ ret = this \ominus p $.
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
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)

Member Typedef Documentation

Definition at line 267 of file CPose3DQuat.h.

Definition at line 416 of file CPose3DQuat.h.

Definition at line 269 of file CPose3DQuat.h.

See ops_containers.h.

Definition at line 435 of file CPose3DQuat.h.

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.

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.

The type of the elements.

Definition at line 265 of file CPose3DQuat.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
is_3D_val 

Definition at line 256 of file CPose3DQuat.h.

anonymous enum
Enumerator:
rotation_dimensions 

Definition at line 258 of file CPose3DQuat.h.

anonymous enum
Enumerator:
is_PDF_val 

Definition at line 259 of file CPose3DQuat.h.

anonymous enum
Enumerator:
static_size 

Definition at line 272 of file CPose3DQuat.h.


Constructor & Destructor Documentation

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 CPose3D p)

Constructor from a CPose3D.

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.


Member Function Documentation

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.)

See also:
fromString

Definition at line 193 of file CPose3DQuat.h.

References mrpt::format().

std::string mrpt::poses::CPose3DQuat::asString ( ) const [inline]

Definition at line 194 of file CPose3DQuat.h.

References asString().

Referenced by asString().

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 = A \oplus B $ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.

Note:
A or B can be "this" without problems.
See also:
inverseComposeFrom, composePoint

Referenced by operator+().

template<class POINT1 , class POINT2 >
void mrpt::poses::CPose3DQuat::composePoint ( const POINT1 &  L,
POINT2 &  G 
) const [inline]

Computes the 3D point G such as $ G = this \oplus L $.

POINT1 and POINT1 can be anything supporing [0],[1],[2].

See also:
composePoint

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 $ G = this \oplus L $.

See also:
composeFrom, inverseComposePoint
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]" )

See also:
asString
Exceptions:
std::exceptionOn 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).

See also:
getInverseHomogeneousMatrix
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 = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note:
A or B can be "this" without problems.
See also:
composeFrom, composePoint

Referenced by operator-().

template<class POINT1 , class POINT2 >
void mrpt::poses::CPose3DQuat::inverseComposePoint ( const POINT1 &  G,
POINT2 &  L 
) const [inline]

Computes the 3D point L such as $ L = G \ominus this $.

See also:
inverseComposePoint

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 $ L = G \ominus this $.

See also:
composePoint, composeFrom
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).

CPoint3D mrpt::poses::CPose3DQuat::operator+ ( const CPoint3D L) const [inline]

Computes the 3D point G such as $ G = this \oplus L $.

See also:
composePoint

Definition at line 145 of file CPose3DQuat.h.

TPoint3D mrpt::poses::CPose3DQuat::operator+ ( const TPoint3D L) const [inline]

Computes the 3D point G such as $ G = this \oplus L $.

See also:
composePoint

Definition at line 148 of file CPose3DQuat.h.

CPose3DQuat mrpt::poses::CPose3DQuat::operator+ ( const CPose3DQuat p) const [inline]

Return the composed pose $ ret = this \oplus p $.

Definition at line 168 of file CPose3DQuat.h.

References composeFrom().

CPose3DQuat& mrpt::poses::CPose3DQuat::operator+= ( const CPose3DQuat b) [inline]

Make $ this = this \oplus b $.

Definition at line 161 of file CPose3DQuat.h.

TPoint3D mrpt::poses::CPose3DQuat::operator- ( const TPoint3D G) const [inline]

Computes the 3D point L such as $ L = G \ominus this $.

See also:
inverseComposePoint

Definition at line 154 of file CPose3DQuat.h.

CPoint3D mrpt::poses::CPose3DQuat::operator- ( const CPoint3D G) const [inline]

Computes the 3D point L such as $ L = G \ominus this $.

See also:
inverseComposePoint

Definition at line 151 of file CPose3DQuat.h.

CPose3DQuat mrpt::poses::CPose3DQuat::operator- ( const CPose3DQuat p) const [inline]

Return the composed pose $ ret = this \ominus p $.

Definition at line 183 of file CPose3DQuat.h.

References inverseComposeFrom().

CPose3DQuat& mrpt::poses::CPose3DQuat::operator-= ( const CPose3DQuat b) [inline]

Make $ this = this \ominus b $.

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.

References m_coords, and m_quat.

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.


Member Data Documentation

Definition at line 65 of file CPose3DQuat.h.

Definition at line 65 of file CPose3DQuat.h.

Definition at line 65 of file CPose3DQuat.h.

The translation vector [x,y,z].

Definition at line 68 of file CPose3DQuat.h.

Referenced by swap().

The quaternion.

Definition at line 69 of file CPose3DQuat.h.

Referenced by swap().




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