mrpt::poses::CPose3D Class Reference

A class used to store a 3D pose. More...

#include <mrpt/poses/CPose3D.h>

Inheritance diagram for mrpt::poses::CPose3D:

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Collaboration diagram for mrpt::poses::CPose3D:

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List of all members.

Public Member Functions
	CPose3D ()
	Default constructor, with all the coordinates to zero.
	CPose3D (const double x, const double y, const double z, const double yaw=0, const double pitch=0, const double roll=0)
	Constructor with initilization of the pose; (remember that angles are always given in radians!).
	CPose3D (const CPose3D &o)
	Copy constructor.
CPose3D &	operator= (const CPose3D &o)
	Copy operator.
	CPose3D (const math::CMatrixDouble &m)
	Constructor from a 4x4 homogeneous matrix:.
	CPose3D (const math::CMatrixDouble44 &m)
	Constructor from a 4x4 homogeneous matrix:.
	CPose3D (const CPose2D &)
	Constructor from a CPose2D object.
	CPose3D (const CPoint3D &)
	Constructor from a CPoint3D object.
	CPose3D (const mrpt::math::TPose3D &)
	Constructor from lightweight object.
	CPose3D (const mrpt::math::CQuaternionDouble &q, const double x, const double y, const double z)
	Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement.
	CPose3D (const CPose3DQuat &)
	Constructor from a CPose3DQuat.
	CPose3D (bool, bool)
	Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
CPose3D	operator+ (const CPose3D &b) const
	The operator $a \oplus b$ is the pose compounding operator.
CPoint3D	operator+ (const CPoint3D &b) const
	The operator $a \oplus b$ is the pose compounding operator.
CPoint3D	operator+ (const CPoint2D &b) const
	The operator $a \oplus b$ is the pose compounding operator.
void	addComponents (const CPose3D &p)
	Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators.
void	normalizeAngles ()
	Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents).
void	operator*= (const double s)
	Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval).
void	sphericalCoordinates (const TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch) const
	Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.
void	composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > out_jacobian_df_dpose=NULL) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.
void	composePoint (const TPoint3D local_point, TPoint3D &global_point) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.
void	composePoint (double lx, double ly, double lz, float &gx, float &gy, float &gz) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.
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, 6 > out_jacobian_df_dpose=NULL) const
	Computes the 3D point L such as $L = G \ominus this$ .
void	composeFrom (const CPose3D &A, const CPose3D &B)
	Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.
CPose3D &	operator+= (const CPose3D &b)
	Make $this = this \oplus b$ .
void	inverseComposeFrom (const CPose3D &A, const CPose3D &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
CPose3D	operator- (const CPose3D &b) const
	Compute $RET = this \oplus b$ .
double	x () const
	Get the X coordinate.
double	y () const
	Get the Y coordinate.
double	z () const
	Get the Z coordinate.
void	x (const double x_)
	Set the X coordinate.
void	y (const double y_)
	Set the Y coordinate.
void	z (const double z_)
	Set the Z coordinate.
void	x_incr (const double Ax)
	Increment the X coordinate.
void	y_incr (const double Ay)
	Increment the Y coordinate.
void	z_incr (const double Az)
	Increment the Z coordinate.
void	setFromValues (const double x0, const double y0, const double z0, const double yaw=0, const double pitch=0, const double roll=0)
	Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes the internal homogeneous coordinates matrix.
template<typename VECTORLIKE >
void	setFromXYZQ (const VECTORLIKE &v, const size_t index_offset=0)
	Set the pose from a 3D position (meters) and a quaternion, stored as [x y z qr qx qy qz] in a 7-element vector.
void	setYawPitchRoll (const double yaw_, const double pitch_, const double roll_)
	Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal homogeneous coordinates matrix.
void	getYawPitchRoll (double &yaw, double &pitch, double &roll)
	Returns the three angles (yaw, pitch, roll), in radians, from the homogeneous matrix.
double	yaw () const
	Get the YAW angle (in radians).
double	pitch () const
	Get the PITCH angle (in radians).
double	roll () const
	Get the ROLL angle (in radians).
double	distanceEuclidean6D (const CPose3D &o) const
	The euclidean distance between two poses taken as two 6-length vectors (angles in radians).
void	getAsVector (vector_double &v) const
	Returns a 1x6 vector with [x y z yaw pitch roll].
void	getAsQuaternion (mrpt::math::CQuaternionDouble &q, mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *out_dq_dr=NULL) const
	Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored) $\mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right)$ With : $\phi = roll$ , $\theta = pitch$ and $\psi = yaw$ .
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]" ).
bool	isHorizontal (const double tolerance=0) const
	Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested).
const double &	operator[] (unsigned int i) const
Protected Member Functions
void	rebuildHomogeneousMatrix ()
	Rebuild the homog matrix from x,y,z and the angles.
Protected Attributes
double	m_yaw
double	m_pitch
double	m_roll
	These variables are updated every time that the object homogeneous matrix is modified (construction, loading from values, pose composition, etc ).
CMatrixDouble44	m_HM
	The homogeneous matrix.
Friends
class	CPose
class	CPose2D
class	CPoint
std::ostream BASE_IMPEXP &	operator<< (std::ostream &o, const CPose3D &p)
STL-like methods and typedefs

enum	{ static_size = 6 }
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
static size_type	size ()
static bool	empty ()
static size_type	max_size ()
static void	resize (const size_t n)

Detailed Description

A class used to store a 3D pose.

A class used to store a 3D (6D) pose, including the 3D coordinate point and orientation angles. It is used in many situations, from defining a robot pose, maps relative poses, sensors,... See introduction in documentation for the CPoseOrPoint class.
For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

To change the individual components of the pose, use CPose3D::setFromValues. This class assures that the internal 4x4 homogeneous coordinate matrix is always up-to-date with the "x y z yaw pitch roll" members.

Rotations in 3D can be also represented by quaternions. See mrpt::math::CQuaternion, and method CPose3D::getAsQuaternion.

This class and CPose3DQuat are very similar, and they can be converted to the each other automatically via transformation constructors.

poses::CPose3D

Homogeneous transfomation matrix

Spatial representation

cycp

cyspsr-sycr

cyspcr+sysr

x

sycp

syspsr+cycr

syspcr-cysr

y

-sp

cpsr

cpcr

z

0

1

where:

cy = cos Yaw ; sy = sin Yaw

cp = cos Pitch ; sp = sin Pitch

cr = cos Roll ; sr = sin Roll

See also:: CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 169 of file CPose3D.h.

Member Typedef Documentation

typedef const double& mrpt::poses::CPose3D::const_reference

Definition at line 447 of file CPose3D.h.

typedef std::ptrdiff_t mrpt::poses::CPose3D::difference_type

Definition at line 449 of file CPose3D.h.

typedef double& mrpt::poses::CPose3D::reference

Definition at line 446 of file CPose3D.h.

typedef std::size_t mrpt::poses::CPose3D::size_type

Definition at line 448 of file CPose3D.h.

typedef double mrpt::poses::CPose3D::value_type

The type of the elements.

Definition at line 445 of file CPose3D.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

static_size

Definition at line 453 of file CPose3D.h.

Constructor & Destructor Documentation

mrpt::poses::CPose3D::CPose3D ( )

Default constructor, with all the coordinates to zero.

mrpt::poses::CPose3D::CPose3D	(	const double	x,
		const double	y,
		const double	z,
		const double	yaw = `0`,
		const double	pitch = `0`,
		const double	roll = `0`
	)

Constructor with initilization of the pose; (remember that angles are always given in radians!).

mrpt::poses::CPose3D::CPose3D ( const CPose3D & o )

Copy constructor.

mrpt::poses::CPose3D::CPose3D ( const math::CMatrixDouble & m ) [explicit]

Constructor from a 4x4 homogeneous matrix:.

mrpt::poses::CPose3D::CPose3D ( const math::CMatrixDouble44 & m ) [explicit]

Constructor from a 4x4 homogeneous matrix:.

mrpt::poses::CPose3D::CPose3D ( const CPose2D & )

Constructor from a CPose2D object.

mrpt::poses::CPose3D::CPose3D ( const CPoint3D & )

Constructor from a CPoint3D object.

mrpt::poses::CPose3D::CPose3D ( const mrpt::math::TPose3D & )

Constructor from lightweight object.

mrpt::poses::CPose3D::CPose3D	(	const mrpt::math::CQuaternionDouble &	q,
		const double	x,
		const double	y,
		const double	z
	)

Constructor from a quaternion (which only represents the 3D rotation part) and a 3D displacement.

mrpt::poses::CPose3D::CPose3D ( const CPose3DQuat & )

Constructor from a CPose3DQuat.

mrpt::poses::CPose3D::CPose3D	(	bool	,
		bool
	)			`[inline]`

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 226 of file CPose3D.h.

Member Function Documentation

void mrpt::poses::CPose3D::addComponents ( const CPose3D & p )

Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators.

See also:: normalizeAngles

std::string mrpt::poses::CPose3D::asString ( ) const [inline]

Definition at line 408 of file CPose3D.h.

References asString().

Referenced by asString().

void mrpt::poses::CPose3D::asString ( std::string & s ) const [inline, virtual]

Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.

)

See also:: fromString

Implements mrpt::poses::CPoseOrPoint.

Definition at line 407 of file CPose3D.h.

References mrpt::format(), and mrpt::utils::RAD2DEG().

void mrpt::poses::CPose3D::composeFrom	(	const CPose3D &	A,
		const CPose3D &	B
	)

Makes "this = A (+) 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.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_particlesEvaluator_AuxPFStandard().

void mrpt::poses::CPose3D::composePoint	(	double	lx,
		double	ly,
		double	lz,
		float &	gx,
		float &	gy,
		float &	gz
	)			const `[inline]`

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.

Definition at line 282 of file CPose3D.h.

void mrpt::poses::CPose3D::composePoint	(	const TPoint3D	local_point,
		TPoint3D &	global_point
	)			const `[inline]`

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.

Note:: local_point is passed by value to allow global and local point to be the same variable

Definition at line 277 of file CPose3D.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::poses::CPose3D::composePoint	(	double	lx,
		double	ly,
		double	lz,
		double &	gx,
		double &	gy,
		double &	gz,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `NULL`,
		mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *	out_jacobian_df_dpose = `NULL`
	)			const

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 3D points and P this 6D pose.

Referenced by mrpt::math::project3D().

double mrpt::poses::CPose3D::distanceEuclidean6D ( const CPose3D & o ) const

The euclidean distance between two poses taken as two 6-length vectors (angles in radians).

static bool mrpt::poses::CPose3D::empty ( ) [inline, static]

Definition at line 455 of file CPose3D.h.

void mrpt::poses::CPose3D::fromString ( const std::string & s ) [inline, virtual]

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ).

See also:: asString

Exceptions:

std::exception

On invalid format

Implements mrpt::poses::CPoseOrPoint.

Definition at line 414 of file CPose3D.h.

References ASSERTMSG_, mrpt::utils::DEG2RAD(), mrpt::math::CMatrixTemplate< T >::fromMatlabStringFormat(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::poses::CPose3D::getAsQuaternion	(	mrpt::math::CQuaternionDouble &	q,
		mrpt::math::CMatrixFixedNumeric< double, 4, 3 > *	out_dq_dr = `NULL`
	)			const

Returns the quaternion associated to the rotation of this object (NOTE: XYZ translation is ignored)

$\mathbf{q} = \left( \begin{array}{c} \cos (\phi /2) \cos (\theta /2) \cos (\psi /2) + \sin (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \sin (\phi /2) \cos (\theta /2) \cos (\psi /2) - \cos (\phi /2) \sin (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \sin (\theta /2) \cos (\psi /2) + \sin (\phi /2) \cos (\theta /2) \sin (\psi /2) \\ \cos (\phi /2) \cos (\theta /2) \sin (\psi /2) - \sin (\phi /2) \sin (\theta /2) \cos (\psi /2) \\ \end{array}\right)$

With : $\phi = roll$ , $\theta = pitch$ and $\psi = yaw$ .

Parameters:

out_dq_dr

If provided, the 4x3 Jacobian of the transformation will be computed and stored here. It's the Jacobian of the transformation from (yaw pitch roll) to (qr qx qy qz).

Referenced by mrpt::math::jacobians::jacob_quat_from_yawpitchroll().

void mrpt::poses::CPose3D::getAsVector ( vector_double & v ) const [virtual]

Returns a 1x6 vector with [x y z yaw pitch roll].

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPose3D::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const [inline, virtual]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also:: getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

Definition at line 231 of file CPose3D.h.

void mrpt::poses::CPose3D::getYawPitchRoll	(	double &	yaw,
		double &	pitch,
		double &	roll
	)

Returns the three angles (yaw, pitch, roll), in radians, from the homogeneous matrix.

See also:: setFromValues, yaw, pitch, roll

void mrpt::poses::CPose3D::inverseComposeFrom	(	const CPose3D &	A,
		const CPose3D &	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-().

void mrpt::poses::CPose3D::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, 6 > *	out_jacobian_df_dpose = `NULL`
	)			const

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

See also:: composePoint, composeFrom

bool mrpt::poses::CPose3D::isHorizontal ( const double tolerance = 0 ) const

Return true if the 6D pose represents a Z axis almost exactly vertical (upwards or downwards), with a given tolerance (if set to 0 exact horizontality is tested).

static size_type mrpt::poses::CPose3D::max_size ( ) [inline, static]

Definition at line 456 of file CPose3D.h.

void mrpt::poses::CPose3D::normalizeAngles ( )

Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents).

See also:: addComponents

void mrpt::poses::CPose3D::operator*= ( const double s ) [virtual]

Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval).

Implements mrpt::poses::CPoseOrPoint.

CPoint3D mrpt::poses::CPose3D::operator+ ( const CPoint2D & b ) const

The operator $a \oplus b$ is the pose compounding operator.

CPoint3D mrpt::poses::CPose3D::operator+ ( const CPoint3D & b ) const

The operator $a \oplus b$ is the pose compounding operator.

CPose3D mrpt::poses::CPose3D::operator+ ( const CPose3D & b ) const

The operator $a \oplus b$ is the pose compounding operator.

CPose3D& mrpt::poses::CPose3D::operator+= ( const CPose3D & b ) [inline]

Make $this = this \oplus b$ .

Definition at line 301 of file CPose3D.h.

CPose3D mrpt::poses::CPose3D::operator- ( const CPose3D & b ) const [inline]

Compute $RET = this \oplus b$ .

Definition at line 314 of file CPose3D.h.

References inverseComposeFrom(), and UNINITIALIZED_POSE.

CPose3D& mrpt::poses::CPose3D::operator= ( const CPose3D & o )

Copy operator.

const double& mrpt::poses::CPose3D::operator[] ( unsigned int i ) const [inline]

Definition at line 425 of file CPose3D.h.

double mrpt::poses::CPose3D::pitch ( ) const [inline]

Get the PITCH angle (in radians).

See also:: setFromValues

Definition at line 383 of file CPose3D.h.

void mrpt::poses::CPose3D::rebuildHomogeneousMatrix ( ) [protected]

Rebuild the homog matrix from x,y,z and the angles.

static void mrpt::poses::CPose3D::resize ( const size_t n ) [inline, static]

Definition at line 457 of file CPose3D.h.

References mrpt::format().

double mrpt::poses::CPose3D::roll ( ) const [inline]

Get the ROLL angle (in radians).

See also:: setFromValues

Definition at line 384 of file CPose3D.h.

void mrpt::poses::CPose3D::setFromValues	(	const double	x0,
		const double	y0,
		const double	z0,
		const double	yaw = `0`,
		const double	pitch = `0`,
		const double	roll = `0`
	)