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mrpt::math::TPose3DQuat Struct Reference


Detailed Description

Lightweight 3D pose (three spatial coordinates, plus a quaternion ).

Allows coordinate access using [] operator.

See also:
mrpt::poses::CPose3DQuat

Definition at line 521 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

Public Member Functions

 TPose3DQuat (double _x, double _y, double _z, double _qr, double _qx, double _qy, double _qz)
 Constructor from coordinates.
 TPose3DQuat ()
 Default fast constructor.
 TPose3DQuat (const mrpt::poses::CPose3DQuat &p)
 Constructor from a CPose3DQuat.
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 as "[x y z qr qx qy qz]".
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 0.0 0.0]" )

Static Public Member Functions

static size_t size ()

Public Attributes

double x
 Translation in x.
double y
 Translation in y.
double z
 Translation in z.
double qr
 Quaternion part, r.
double qx
 Quaternion part, x.
double qy
 Quaternion part, y.
double qz
 Quaternion part, z.

Constructor & Destructor Documentation

mrpt::math::TPose3DQuat::TPose3DQuat ( double  _x,
double  _y,
double  _z,
double  _qr,
double  _qx,
double  _qy,
double  _qz 
) [inline]

Constructor from coordinates.

Definition at line 531 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat ( ) [inline]

Default fast constructor.

Initializes to garbage.

Definition at line 533 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat ( const mrpt::poses::CPose3DQuat p)

Constructor from a CPose3DQuat.


Member Function Documentation

void mrpt::math::TPose3DQuat::asString ( std::string &  s) const [inline]

Returns a human-readable textual representation of the object as "[x y z qr qx qy qz]".

See also:
fromString

Definition at line 557 of file lightweight_geom_data.h.

References mrpt::format(), and internal::y.

std::string mrpt::math::TPose3DQuat::asString ( ) const [inline]

Definition at line 558 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPose3DQuat::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 0.0 0.0]" )

See also:
asString
Exceptions:
std::exceptionOn invalid format
void mrpt::math::TPose3DQuat::getAsVector ( vector_double v) const [inline]

Gets the pose as a vector of doubles.

Definition at line 550 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize().

double mrpt::math::TPose3DQuat::norm ( ) const [inline]

Pose's spatial coordinates norm.

Definition at line 546 of file lightweight_geom_data.h.

References sqrt(), square(), and internal::y.

const double& mrpt::math::TPose3DQuat::operator[] ( size_t  i) const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 542 of file lightweight_geom_data.h.

double& mrpt::math::TPose3DQuat::operator[] ( size_t  i) [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 538 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose3DQuat::size ( ) [inline, static]

Definition at line 565 of file lightweight_geom_data.h.


Member Data Documentation

Quaternion part, r.

Definition at line 525 of file lightweight_geom_data.h.

Quaternion part, x.

Definition at line 526 of file lightweight_geom_data.h.

Quaternion part, y.

Definition at line 527 of file lightweight_geom_data.h.

Quaternion part, z.

Definition at line 528 of file lightweight_geom_data.h.

Translation in x.

Definition at line 522 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

Translation in y.

Definition at line 523 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().

Translation in z.

Definition at line 524 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().




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