Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Allows coordinate access using [] operator.
Definition at line 389 of file lightweight_geom_data.h.
#include <mrpt/math/lightweight_geom_data.h>
Public Types | |
enum | { static_size = 6 } |
Public Member Functions | |
TPose3D (const TPoint2D &p) | |
Implicit constructor from TPoint2D. | |
TPose3D (const TPose2D &p) | |
Implicit constructor from TPose2D. | |
TPose3D (const TPoint3D &p) | |
Implicit constructor from TPoint3D. | |
TPose3D (const mrpt::poses::CPose3D &p) | |
Implicit constructor from heavyweight type. | |
TPose3D (double _x, double _y, double _z, double _yaw, double _pitch, double _roll) | |
Constructor from coordinates. | |
TPose3D () | |
Default fast constructor. | |
double & | operator[] (size_t i) |
Coordinate access using operator[]. | |
const double & | operator[] (size_t i) const |
Coordinate access using operator[]. | |
double | norm () const |
Pose's spatial coordinates norm. | |
void | getAsVector (std::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 (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]" ) | |
Static Public Member Functions | |
static size_t | size () |
Public Attributes | |
double | x |
double | y |
double | z |
X,Y,Z, coords. | |
double | yaw |
Yaw coordinate (rotation angle over Z axis). | |
double | pitch |
Pitch coordinate (rotation angle over Y axis). | |
double | roll |
Roll coordinate (rotation angle over X coordinate). | |
anonymous enum |
Enumerator | |
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static_size |
Definition at line 390 of file lightweight_geom_data.h.
mrpt::math::TPose3D::TPose3D | ( | const TPoint2D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const TPose2D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const TPoint3D & | p | ) |
mrpt::math::TPose3D::TPose3D | ( | const mrpt::poses::CPose3D & | p | ) |
Implicit constructor from heavyweight type.
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inline |
Constructor from coordinates.
Definition at line 417 of file lightweight_geom_data.h.
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inline |
Default fast constructor.
Initializes to garbage.
Definition at line 421 of file lightweight_geom_data.h.
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inline |
Definition at line 443 of file lightweight_geom_data.h.
References asString().
Referenced by asString().
void mrpt::math::TPose3D::asString | ( | std::string & | s | ) | const |
Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]", angles in degrees.)
void mrpt::math::TPose3D::fromString | ( | const std::string & | s | ) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )
std::exception | On invalid format |
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inline |
Gets the pose as a vector of doubles.
Definition at line 435 of file lightweight_geom_data.h.
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inline |
Pose's spatial coordinates norm.
Definition at line 429 of file lightweight_geom_data.h.
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inline |
Coordinate access using operator[].
Order: x,y,z,yaw,pitch,roll
Definition at line 423 of file lightweight_geom_data.h.
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inline |
Coordinate access using operator[].
Order: x,y,z,yaw,pitch,roll
Definition at line 425 of file lightweight_geom_data.h.
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inlinestatic |
Definition at line 450 of file lightweight_geom_data.h.
double mrpt::math::TPose3D::pitch |
Pitch coordinate (rotation angle over Y axis).
Definition at line 393 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
double mrpt::math::TPose3D::roll |
Roll coordinate (rotation angle over X coordinate).
Definition at line 394 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
double mrpt::math::TPose3D::x |
Definition at line 391 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
double mrpt::math::TPose3D::y |
Definition at line 391 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
double mrpt::math::TPose3D::yaw |
Yaw coordinate (rotation angle over Z axis).
Definition at line 392 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
double mrpt::math::TPose3D::z |
X,Y,Z, coords.
Definition at line 391 of file lightweight_geom_data.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::math::operator!=(), and mrpt::math::operator==().
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