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mrpt::poses::CPose3DQuat Class Reference

A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...

#include <mrpt/poses/CPose3DQuat.h>

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List of all members.

Classes

struct  const_iterator
struct  iterator

Public Types

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.
 CPose3DQuat ()
 Default constructor, initialize translation to zeros and quaternion to no rotation.
 CPose3DQuat (bool, bool)
 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.
 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).
CPose3DQuat & operator+= (const CPose3DQuat &b)
 Make $ this = this \oplus b $.
CPose3DQuat operator+ (const CPose3DQuat &p) const
 Return the composed pose $ ret = this \oplus p $.
CPose3DQuat & operator-= (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.

Protected Attributes

mrpt::math::CQuaternionDouble m_quat
 The quaternion.

Friends

class CPose
class CPose2D
class CPoint
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose3DQuat &p)

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)

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.

Member Typedef Documentation

typedef const double& mrpt::poses::CPose3DQuat::const_reference

Definition at line 259 of file CPose3DQuat.h.

typedef std::reverse_iterator<const_iterator> mrpt::poses::CPose3DQuat::const_reverse_iterator

Definition at line 408 of file CPose3DQuat.h.

typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type

Definition at line 261 of file CPose3DQuat.h.

typedef CPose3DQuat mrpt::poses::CPose3DQuat::mrpt_autotype

See ops_containers.h.

Definition at line 427 of file CPose3DQuat.h.

typedef double& mrpt::poses::CPose3DQuat::reference

Definition at line 258 of file CPose3DQuat.h.

typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator

Definition at line 407 of file CPose3DQuat.h.

typedef std::size_t mrpt::poses::CPose3DQuat::size_type

Definition at line 260 of file CPose3DQuat.h.

typedef double mrpt::poses::CPose3DQuat::value_type

The type of the elements.

Definition at line 257 of file CPose3DQuat.h.

Member Enumeration Documentation

anonymous enum
Enumerator:
static_size 

Definition at line 264 of file CPose3DQuat.h.

Constructor & Destructor Documentation

mrpt::poses::CPose3DQuat::CPose3DQuat (  ) 

Default constructor, initialize translation to zeros and quaternion to no rotation.

mrpt::poses::CPose3DQuat::CPose3DQuat ( bool  ,
bool   
)

Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor.

mrpt::poses::CPose3DQuat::CPose3DQuat ( const double  x,
const double  y,
const double  z,
const mrpt::math::CQuaternionDouble &  q 
)

Constructor with initilization of the pose.

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

Constructor from a CPose3D.

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

Constructor from lightweight object.

mrpt::poses::CPose3DQuat::CPose3DQuat ( const CMatrixDouble44 &  M  )  [explicit]

Constructor from a 4x4 homogeneous transformation matrix.

Member Function Documentation

void mrpt::poses::CPose3DQuat::assign ( const size_t  N,
const double  val 
) [inline]

Definition at line 270 of file CPose3DQuat.h.

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

Definition at line 194 of file CPose3DQuat.h.

References asString().

Referenced by asString().

void mrpt::poses::CPose3DQuat::asString ( std::string &  s  )  const [inline, virtual]

Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.

)

See also:
fromString

Implements mrpt::poses::CPoseOrPoint.

Definition at line 193 of file CPose3DQuat.h.

References mrpt::format().

const_iterator mrpt::poses::CPose3DQuat::begin (  )  const [inline]

Definition at line 411 of file CPose3DQuat.h.

iterator mrpt::poses::CPose3DQuat::begin (  )  [inline]

Definition at line 409 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 bool mrpt::poses::CPose3DQuat::empty (  )  [inline, static]

Definition at line 266 of file CPose3DQuat.h.

const_iterator mrpt::poses::CPose3DQuat::end (  )  const [inline]

Definition at line 412 of file CPose3DQuat.h.

iterator mrpt::poses::CPose3DQuat::end (  )  [inline]

Definition at line 410 of file CPose3DQuat.h.

void mrpt::poses::CPose3DQuat::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 1 0 0 0]" ).

See also:
asString
Exceptions:
std::exception On invalid format

Implements mrpt::poses::CPoseOrPoint.

Definition at line 200 of file CPose3DQuat.h.

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

void mrpt::poses::CPose3DQuat::getAsVector ( vector_double &  v  )  const [virtual]

Returns a 1x7 vector with [x y z qr qx qy qz].

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPose3DQuat::getHomogeneousMatrix ( CMatrixDouble44 &  out_HM  )  const [virtual]

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

See also:
getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

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 size_type mrpt::poses::CPose3DQuat::max_size (  )  [inline, static]

Definition at line 267 of file CPose3DQuat.h.

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).

Implements mrpt::poses::CPoseOrPoint.

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().

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.

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.

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

Make $ this = this \oplus b $.

Definition at line 161 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().

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 &  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.

const mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat (  )  const [inline]

Read-only access to the quaternion representing the 3D rotation.

Definition at line 80 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 77 of file CPose3DQuat.h.

const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin (  )  const [inline]

Definition at line 414 of file CPose3DQuat.h.

reverse_iterator mrpt::poses::CPose3DQuat::rbegin (  )  [inline]

Definition at line 413 of file CPose3DQuat.h.

const_reverse_iterator mrpt::poses::CPose3DQuat::rend (  )  const [inline]

Definition at line 416 of file CPose3DQuat.h.

reverse_iterator mrpt::poses::CPose3DQuat::rend (  )  [inline]

Definition at line 415 of file CPose3DQuat.h.

static void mrpt::poses::CPose3DQuat::resize ( const size_t  n  )  [inline, static]

Definition at line 268 of file CPose3DQuat.h.

References mrpt::format().

static size_type mrpt::poses::CPose3DQuat::size (  )  [inline, static]

Definition at line 265 of file CPose3DQuat.h.

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 419 of file CPose3DQuat.h.

References m_quat, mrpt::poses::CPoseOrPoint::m_x, mrpt::poses::CPoseOrPoint::m_y, mrpt::poses::CPoseOrPoint::m_z, mrpt::math::CArray< T, N >::swap(), and std::swap().

Friends And Related Function Documentation

friend class CPoint [friend]

Definition at line 66 of file CPose3DQuat.h.

friend class CPose [friend]

Definition at line 64 of file CPose3DQuat.h.

friend class CPose2D [friend]

Definition at line 65 of file CPose3DQuat.h.

std::ostream BASE_IMPEXP& operator<< ( std::ostream &  o,
const CPose3DQuat &  p 
) [friend]

Member Data Documentation

mrpt::math::CQuaternionDouble mrpt::poses::CPose3DQuat::m_quat [protected]

The quaternion.

Definition at line 73 of file CPose3DQuat.h.

Referenced by swap().

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