mrpt::math::TPose3DQuat Struct Reference

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

#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.

---

Detailed Description

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

Allows coordinate access using [] operator.

See also:

mrpt::poses::CPose3DQuat

Definition at line 527 of file lightweight_geom_data.h.

---

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 537 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 539 of file lightweight_geom_data.h.

mrpt::math::TPose3DQuat::TPose3DQuat

(

const mrpt::poses::CPose3DQuat &

p

)

Constructor from a CPose3DQuat.

---

Member Function Documentation

std::string mrpt::math::TPose3DQuat::asString

(

)

const [inline]

Definition at line 564 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

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 563 of file lightweight_geom_data.h.

References mrpt::format().

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::exception

On invalid format

void mrpt::math::TPose3DQuat::getAsVector

(

vector_double &

v

)

const [inline]

Gets the pose as a vector of doubles.

Definition at line 556 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::norm

(

)

const [inline]

Pose's spatial coordinates norm.

Definition at line 552 of file lightweight_geom_data.h.

References mrpt::utils::square().

const double& mrpt::math::TPose3DQuat::operator[]

(

size_t

i

)

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 548 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 544 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose3DQuat::size

(

)

[inline, static]

Definition at line 571 of file lightweight_geom_data.h.

---

Member Data Documentation

double mrpt::math::TPose3DQuat::qr

Quaternion part, r.

Definition at line 531 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qx

Quaternion part, x.

Definition at line 532 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qy

Quaternion part, y.

Definition at line 533 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::qz

Quaternion part, z.

Definition at line 534 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::x

Translation in x.

Definition at line 528 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::y

Translation in y.

Definition at line 529 of file lightweight_geom_data.h.

double mrpt::math::TPose3DQuat::z

Translation in z.

Definition at line 530 of file lightweight_geom_data.h.