Lightweight 3D pose (three spatial coordinates, plus a quaternion ).
Allows coordinate access using [] operator.
Definition at line 521 of file lightweight_geom_data.h.
#include <mrpt/math/lightweight_geom_data.h>
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. |
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.
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]".
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]" ).
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 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.
double mrpt::math::TPose3DQuat::qr |
Quaternion part, r.
Definition at line 525 of file lightweight_geom_data.h.
double mrpt::math::TPose3DQuat::qx |
Quaternion part, x.
Definition at line 526 of file lightweight_geom_data.h.
double mrpt::math::TPose3DQuat::qy |
Quaternion part, y.
Definition at line 527 of file lightweight_geom_data.h.
double mrpt::math::TPose3DQuat::qz |
Quaternion part, z.
Definition at line 528 of file lightweight_geom_data.h.
double mrpt::math::TPose3DQuat::x |
Translation in x.
Definition at line 522 of file lightweight_geom_data.h.
Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().
double mrpt::math::TPose3DQuat::y |
Translation in y.
Definition at line 523 of file lightweight_geom_data.h.
Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().
double mrpt::math::TPose3DQuat::z |
Translation in z.
Definition at line 524 of file lightweight_geom_data.h.
Referenced by mrpt::poses::CPose3DQuat::CPose3DQuat().
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