MRPT  1.9.9
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mrpt::poses::CPose3D Class Reference
[mrpt-poses] » 2D/3D points and poses

Detailed Description

A class used to store a 3D pose (a 3D translation + a rotation in 3D).

The 6D transformation in SE(3) stored in this class is kept in two separate containers: a 3-array for the translation, and a 3x3 rotation matrix.

This class allows parameterizing 6D poses as a 6-vector: [x y z yaw pitch roll] (read below for the angles convention). Note however, that the yaw/pitch/roll angles are only computed (on-demand and transparently) when the user requests them. Normally, rotations and transformations are always handled via the 3x3 rotation matrix.

Yaw/Pitch/Roll angles are defined as successive rotations around local (dynamic) axes in the Z/Y/X order:

It may be extremely confusing and annoying to find a different criterion also involving the names "yaw, pitch, roll" but regarding rotations around global (static) axes. Fortunately, it's very easy to see (by writing down the product of the three rotation matrices) that both conventions lead to exactly the same numbers. Only, that it's conventional to write the numbers in reverse order. That is, the same rotation can be described equivalently with any of these two parameterizations:

  • In local axes Z/Y/X convention: [yaw pitch roll] (This is the convention used in mrpt::poses::CPose3D)
  • In global axes X/Y/Z convention: [roll pitch yaw] (One of the Euler angles conventions)

For further descriptions of point & pose classes, see mrpt::poses::CPoseOrPoint or refer to the 2D/3D Geometry tutorial online.

To change the individual components of the pose, use CPose3D::setFromValues. This class assures that the internal 3x3 rotation matrix is always up-to-date with the "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.

For Lie algebra methods, see mrpt::poses::Lie.

Note
Read also: "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", in [1]
See also
CPoseOrPoint,CPoint3D, mrpt::math::CQuaternion

Definition at line 84 of file CPose3D.h.

#include <mrpt/poses/CPose3D.h>

Inheritance diagram for mrpt::poses::CPose3D:

Public Types

enum  { is_3D_val = 1 }
 
enum  { rotation_dimensions = 3 }
 
enum  { is_PDF_val = 0 }
 
using type_value = CPose3D
 Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...
 
using vector_t = mrpt::math::CVectorFixedDouble< DIM >
 Fixed-size vector of the correct size to hold all the coordinates of the point/pose. More...
 

Public Member Functions

CPose3D getOppositeScalar () const
 Return the opposite of the current pose instance by taking the negative of all its components individually. More...
 
void setToNaN () override
 Set all data fields to quiet NaN. More...
 
const type_value & getPoseMean () const
 
type_value & getPoseMean ()
 
const CPose3D & derived () const
 
CPose3D & derived ()
 
virtual mxArray * writeToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
Access 3x3 rotation and 4x4 homogeneous matrices
void getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getRotationMatrix (mrpt::math::CMatrixDouble33 &ROT) const
 Get the 3x3 rotation matrix. More...
 
const mrpt::math::CMatrixDouble33 & getRotationMatrix () const
 
void setRotationMatrix (const mrpt::math::CMatrixDouble33 &ROT)
 Sets the 3x3 rotation matrix. More...
 
Pose-pose and pose-point compositions and operators
CPose3D operator+ (const CPose3D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
CPoint3D operator+ (const CPoint3D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
CPoint3D operator+ (const CPoint2D &b) const
 The operator $ a \oplus b $ is the pose compounding operator. More...
 
void sphericalCoordinates (const mrpt::math::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. More...
 
void composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixed< double, 3, 3 > *out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixed< double, 3, 6 > *out_jacobian_df_dpose=nullptr, mrpt::math::CMatrixFixed< double, 3, 6 > *out_jacobian_df_dse3=nullptr, bool use_small_rot_approx=false) 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. More...
 
void composePoint (const mrpt::math::TPoint3D &local_point, mrpt::math::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. More...
 
mrpt::math::TPoint3D composePoint (const mrpt::math::TPoint3D &l) const
 
void composePoint (const mrpt::math::TPoint3D &local_point, mrpt::math::TPoint2D &global_point) const
 This version of the method assumes that the resulting point has no Z component (use with caution!) More...
 
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. More...
 
mrpt::math::TVector3D rotateVector (const mrpt::math::TVector3D &local) const
 Rotates a vector (i.e. More...
 
mrpt::math::TVector3D inverseRotateVector (const mrpt::math::TVector3D &global) const
 Inverse of rotateVector(), i.e. More...
 
void inverseComposePoint (const double gx, const double gy, const double gz, double &lx, double &ly, double &lz, mrpt::math::CMatrixFixed< double, 3, 3 > *out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixed< double, 3, 6 > *out_jacobian_df_dpose=nullptr, mrpt::math::CMatrixFixed< double, 3, 6 > *out_jacobian_df_dse3=nullptr) const
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
void inverseComposePoint (const mrpt::math::TPoint3D &g, mrpt::math::TPoint3D &l) const
 
mrpt::math::TPoint3D inverseComposePoint (const mrpt::math::TPoint3D &g) const
 
void inverseComposePoint (const mrpt::math::TPoint2D &g, mrpt::math::TPoint2D &l, const double eps=1e-6) const
 overload for 2D points More...
 
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. More...
 
CPose3D & operator+= (const CPose3D &b)
 Make $ this = this \oplus b $ (b can be "this" without problems) More...
 
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. More...
 
CPose3D operator- (const CPose3D &b) const
 Compute $ RET = this \oplus b $. More...
 
void inverse ()
 Convert this pose into its inverse, saving the result in itself. More...
 
void changeCoordinatesReference (const CPose3D &p)
 makes: this = p (+) this More...
 
Access and modify contents
void addComponents (const CPose3D &p)
 Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. More...
 
void normalizeAngles ()
 Rebuild the internal matrix & update the yaw/pitch/roll angles within the ]-PI,PI] range (Must be called after using addComponents) More...
 
void operator*= (const double s)
 Scalar multiplication of x,y,z,yaw,pitch & roll (angles will be wrapped to the ]-pi,pi] interval). More...
 
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 rotation matrix. More...
 
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. More...
 
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 rotation coordinates matrix. More...
 
template<class ARRAYORVECTOR >
void setFrom12Vector (const ARRAYORVECTOR &vec12)
 Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 
template<class ARRAYORVECTOR >
void getAs12Vector (ARRAYORVECTOR &vec12) const
 Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 
void getYawPitchRoll (double &yaw, double &pitch, double &roll) const
 Returns the three angles (yaw, pitch, roll), in radians, from the rotation matrix. More...
 
double yaw () const
 Get the YAW angle (in radians) More...
 
double pitch () const
 Get the PITCH angle (in radians) More...
 
double roll () const
 Get the ROLL angle (in radians) More...
 
void asVector (vector_t &v) const
 Returns a 6x1 vector with [x y z yaw pitch roll]'. More...
 
void getAsQuaternion (mrpt::math::CQuaternionDouble &q, mrpt::math::CMatrixFixed< double, 4, 3 > *out_dq_dr=nullptr) 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 $. More...

 
const double & operator[] (unsigned int i) const
 
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.) More...
 
std::string asString () const
 
void fromString (const std::string &s)
 Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg. More...
 
void fromStringRaw (const std::string &s)
 Same as fromString, but without requiring the square brackets in the string. More...
 
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). More...
 
double distanceEuclidean6D (const CPose3D &o) const
 The euclidean distance between two poses taken as two 6-length vectors (angles in radians). More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

mrpt::math::CVectorFixedDouble< 3 > m_coords
 The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods. More...
 

Protected Member Functions

void rebuildRotationMatrix ()
 Rebuild the homog matrix from the angles. More...
 
void updateYawPitchRoll () const
 Updates Yaw/pitch/roll members from the m_ROT. More...
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

mrpt::math::CMatrixDouble33 m_ROT
 The 3x3 rotation matrix, access with getRotationMatrix(), setRotationMatrix() (It's not safe to set this field as public) More...
 
bool m_ypr_uptodate {true}
 Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update. More...
 
double m_yaw {0}
 These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc ) More...
 
double m_pitch {0}
 
double m_roll {0}
 

RTTI stuff

using Ptr = std::shared_ptr< CPose3D >
 
using ConstPtr = std::shared_ptr< const CPose3D >
 
using UniquePtr = std::unique_ptr< CPose3D >
 
using ConstUniquePtr = std::unique_ptr< const CPose3D >
 
static mrpt::rtti::CLASSINIT _init_CPose3D
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPose3D"
 
static const mrpt::rtti::TRuntimeClassId * _GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassId & GetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObject > CreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassId * GetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObject * clone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Constructors

static CPose3D Identity ()
 Returns the identity transformation. More...
 
 CPose3D ()
 Default constructor, with all the coordinates set to zero. More...
 
 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!) More...
 
 CPose3D (const math::CMatrixDouble &m)
 Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed). More...
 
 CPose3D (const math::CMatrixDouble44 &m)
 Constructor from a 4x4 homogeneous matrix: More...
 
template<class MATRIX33 , class VECTOR3 >
 CPose3D (const MATRIX33 &rot, const VECTOR3 &xyz)
 Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a mrpt::math::TPoint3D. More...
 
 CPose3D (const mrpt::math::CMatrixDouble33 &rot, const mrpt::math::CVectorFixedDouble< 3 > &xyz)
 
 CPose3D (const CPose2D &)
 Constructor from a CPose2D object. More...
 
 CPose3D (const CPoint3D &)
 Constructor from a CPoint3D object. More...
 
 CPose3D (const mrpt::math::TPose3D &)
 Constructor from lightweight object. More...
 
mrpt::math::TPose3D asTPose () const
 
 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. More...
 
 CPose3D (const CPose3DQuat &)
 Constructor from a CPose3DQuat. More...
 
 CPose3D (TConstructorFlags_Poses)
 Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...
 
 CPose3D (const mrpt::math::CVectorFixedDouble< 12 > &vec12)
 Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. More...
 

STL-like methods and typedefs

 


enum  { static_size = 6
 }


 


using value_type = double


 The type of the elements.  More...


 


using reference = double &


 


using const_reference = const double &


 


using size_type = std::size_t


 


using difference_type = std::ptrdiff_t


 


static constexpr size_type size ()


 


static constexpr bool empty ()


 


static constexpr size_type max_size ()


 


static void resize (const size_t n)


 


static bool is3DPoseOrPoint ()


 Return true for poses or points with a Z component, false otherwise.  More...


 


double x () const


 Common members of all points & poses classes.  More...


 


double & x ()


 


void x (const double v)


 


double y () const


 


double & y ()


 


void y (const double v)


 


void x_incr (const double v)


 


void y_incr (const double v)


 


double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const


 Returns the squared euclidean distance to another pose/point:  More...


 


double distanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const


 Returns the Euclidean distance to another pose/point:  More...


 


double distanceTo (const mrpt::math::TPoint3D &b) const


 Returns the euclidean distance to a 3D point:  More...


 


double distance2DToSquare (double ax, double ay) const


 Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).  More...


 


double distance3DToSquare (double ax, double ay, double az) const


 Returns the squared 3D distance from this pose/point to a 3D point.  More...


 


double distance2DTo (double ax, double ay) const


 Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).  More...


 


double distance3DTo (double ax, double ay, double az) const


 Returns the 3D distance from this pose/point to a 3D point.  More...


 


double norm () const


 Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.  More...


 


vector_t asVectorVal () const


 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)  More...


 


MATRIX44 getHomogeneousMatrixVal () const


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


 


void getInverseHomogeneousMatrix (MATRIX44 &out_HM) const


 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.  More...


 


MATRIX44 getInverseHomogeneousMatrixVal () const


 




Member Typedef Documentation



◆ const_reference






      

        

          using mrpt::poses::CPose3D::const_reference =  const double&
        

      





Definition at line 676 of file CPose3D.h.








◆ ConstPtr






      

        

          using mrpt::poses::CPose3D::ConstPtr =  std::shared_ptr<const CPose3D >
        

      





Definition at line 87 of file CPose3D.h.








◆ ConstUniquePtr






      

        

          using mrpt::poses::CPose3D::ConstUniquePtr =  std::unique_ptr<const CPose3D >
        

      





Definition at line 87 of file CPose3D.h.








◆ difference_type






      

        

          using mrpt::poses::CPose3D::difference_type =  std::ptrdiff_t
        

      





Definition at line 678 of file CPose3D.h.








◆ Ptr






      

        

          using mrpt::poses::CPose3D::Ptr =  std::shared_ptr< CPose3D >
        

      




A type for the associated smart pointer 



Definition at line 87 of file CPose3D.h.








◆ reference






      

        

          using mrpt::poses::CPose3D::reference =  double&
        

      





Definition at line 675 of file CPose3D.h.








◆ size_type






      

        

          using mrpt::poses::CPose3D::size_type =  std::size_t
        

      





Definition at line 677 of file CPose3D.h.








◆ type_value






      

        

          using mrpt::poses::CPose3D::type_value =  CPose3D
        

      





Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. 



Definition at line 654 of file CPose3D.h.








◆ UniquePtr






      

        

          using mrpt::poses::CPose3D::UniquePtr =  std::unique_ptr< CPose3D >
        

      





Definition at line 87 of file CPose3D.h.








◆ value_type






      

        

          using mrpt::poses::CPose3D::value_type =  double
        

      





The type of the elements. 



Definition at line 674 of file CPose3D.h.








◆ vector_t








  

  
      

        

          using mrpt::poses::CPoseOrPoint< CPose3D , DIM >::vector_t =  mrpt::math::CVectorFixedDouble<DIM>
        

      

  		
  
inherited  
  







Fixed-size vector of the correct size to hold all the coordinates of the point/pose. 



Definition at line 137 of file CPoseOrPoint.h.







Member Enumeration Documentation



◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
is_3D_val 





Definition at line 655 of file CPose3D.h.








◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
rotation_dimensions 





Definition at line 660 of file CPose3D.h.








◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
is_PDF_val 





Definition at line 664 of file CPose3D.h.








◆ anonymous enum






      

        

          anonymous enum
        

      






Enumerator
static_size 





Definition at line 681 of file CPose3D.h.







Constructor & Destructor Documentation



◆ CPose3D() [1/13]






      

        

          CPose3D::CPose3D 
          (
          )
          
        

      





Default constructor, with all the coordinates set to zero. 



Definition at line 53 of file CPose3D.cpp.



Referenced by changeCoordinatesReference(), getOppositeScalar(), and Identity().



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◆ CPose3D() [2/13]






      

        

          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!) 



Definition at line 59 of file CPose3D.cpp.



References pitch(), roll(), setFromValues(), and yaw().



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◆ CPose3D() [3/13]








  

  
      

        

          CPose3D::CPose3D 
          (
          const math::CMatrixDouble & 
          m)
          
        

      

  		
  
explicit  
  







Constructor from a 4x4 homogeneous matrix - the passed matrix can be actually of any size larger than or equal 3x4, since only those first values are used (the last row of a homogeneous 4x4 matrix are always fixed). 



Definition at line 83 of file CPose3D.cpp.



References ASSERT_ABOVEEQ_, mrpt::math::CMatrixDynamic< T >::cols(), m_coords, m_ROT, and mrpt::math::CMatrixDynamic< T >::rows().



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◆ CPose3D() [4/13]








  

  
      

        

          CPose3D::CPose3D 
          (
          const math::CMatrixDouble44 & 
          m)
          
        

      

  		
  
explicit  
  







Constructor from a 4x4 homogeneous matrix: 



Definition at line 93 of file CPose3D.cpp.



References m_coords, and m_ROT.








◆ CPose3D() [5/13]








template<class MATRIX33 , class VECTOR3 > 



  

  
      

        

          mrpt::poses::CPose3D::CPose3D 
          (
          const MATRIX33 & 
          rot, 
        

        

          
          
          const VECTOR3 & 
          xyz 
        

        

          
          )
          
        

      

  		
  
inline  
  







Constructor from a 3x3 rotation matrix and a the translation given as a 3-vector, a 3-array, a CPoint3D or a mrpt::math::TPoint3D. 



Definition at line 152 of file CPose3D.h.



References ASSERT_EQUAL_, m_coords, and m_ROT.








◆ CPose3D() [6/13]








  

  
      

        

          mrpt::poses::CPose3D::CPose3D 
          (
          const mrpt::math::CMatrixDouble33 & 
          rot, 
        

        

          
          
          const mrpt::math::CVectorFixedDouble< 3 > & 
          xyz 
        

        

          
          )
          
        

      

  		
  
inline  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 163 of file CPose3D.h.








◆ CPose3D() [7/13]








  

  
      

        

          CPose3D::CPose3D 
          (
          const CPose2D & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from a CPose2D object. 



Definition at line 72 of file CPose3D.cpp.



References setFromValues().



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◆ CPose3D() [8/13]








  

  
      

        

          CPose3D::CPose3D 
          (
          const CPoint3D & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from a CPoint3D object. 



Definition at line 77 of file CPose3D.cpp.



References setFromValues().



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◆ CPose3D() [9/13]








  

  
      

        

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

      

  		
  
explicit  
  







Constructor from lightweight object. 



Definition at line 67 of file CPose3D.cpp.



References mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, setFromValues(), mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.



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◆ CPose3D() [10/13]






      

        

          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. 



Definition at line 103 of file CPose3D.cpp.



References pitch(), roll(), setFromValues(), and yaw().



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◆ CPose3D() [11/13]








  

  
      

        

          CPose3D::CPose3D 
          (
          const CPose3DQuat & 
          p)
          
        

      

  		
  
explicit  
  







Constructor from a CPose3DQuat. 


Constructor from a quaternion-based full pose.



Definition at line 114 of file CPose3D.cpp.



References m_coords, and m_ROT.








◆ CPose3D() [12/13]








  

  
      

        

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

      

  		
  
inline  
  







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



Definition at line 195 of file CPose3D.h.








◆ CPose3D() [13/13]








  

  
      

        

          mrpt::poses::CPose3D::CPose3D 
          (
          const mrpt::math::CVectorFixedDouble< 12 > & 
          vec12)
          
        

      

  		
  
inlineexplicit  
  







Constructor from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. 


See also
setFrom12Vector, getAs12Vector 



Definition at line 206 of file CPose3D.h.



References setFrom12Vector().



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Member Function Documentation



◆ _GetBaseClass()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3D::_GetBaseClass 
          (
          )
          
        

      

  		
  
staticprotected  
  












◆ addComponents()






      

        

          void CPose3D::addComponents 
          (
          const CPose3D & 
          p)
          
        

      





Scalar sum of all 6 components: This is diferent from poses composition, which is implemented as "+" operators. 


See also
normalizeAngles 



Definition at line 337 of file CPose3D.cpp.



References m_coords, m_pitch, m_roll, m_yaw, rebuildRotationMatrix(), and updateYawPitchRoll().



Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene().



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◆ asString() [1/2]








  

  
      

        

          void mrpt::poses::CPose3D::asString 
          (
          std::string & 
          s)
           const
        

      

  		
  
inline  
  







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


See also
fromString 



Definition at line 613 of file CPose3D.h.



References mrpt::format(), m_coords, m_pitch, m_roll, m_yaw, mrpt::RAD2DEG(), and updateYawPitchRoll().



Referenced by mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), and thread_client().



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◆ asString() [2/2]








  

  
      

        

          std::string mrpt::poses::CPose3D::asString 
          (
          )
           const
        

      

  		
  
inline  
  







Definition at line 621 of file CPose3D.h.








◆ asTPose()






      

        

          mrpt::math::TPose3D CPose3D::asTPose 
          (
          )
           const
        

      





Definition at line 765 of file CPose3D.cpp.



References pitch(), roll(), mrpt::poses::CPoseOrPoint< CPose3D, DIM >::x(), mrpt::poses::CPoseOrPoint< CPose3D, DIM >::y(), and yaw().



Referenced by mrpt::poses::CPoses3DSequence::appendPose(), mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin(), mrpt::poses::CPoses3DSequence::changePose(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::poses::CPoseInterpolatorBase< 3 >::filter(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), mrpt::opengl::CRenderizable::getPose(), FAddUntracedLines::operator()(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFStandard(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::obs::CObservationGasSensors::serializeFrom(), mrpt::obs::CObservationRange::serializeFrom(), mrpt::obs::CObservationGasSensors::setSensorPose(), and mrpt::obs::CObservationRange::setSensorPose().



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◆ asVector()






      

        

          void CPose3D::asVector 
          (
          vector_t & 
          v)
           const
        

      





Returns a 6x1 vector with [x y z yaw pitch roll]'. 



Definition at line 487 of file CPose3D.cpp.



References m_coords, m_pitch, m_roll, m_yaw, and updateYawPitchRoll().



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◆ asVectorVal()








  

  
      

        

          vector_t mrpt::poses::CPoseOrPoint< CPose3D , DIM >::asVectorVal 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) 



Definition at line 266 of file CPoseOrPoint.h.








◆ changeCoordinatesReference()








  

  
      

        

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

      

  		
  
inline  
  







makes: this = p (+) this 



Definition at line 419 of file CPose3D.h.



References composeFrom(), and CPose3D().



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◆ clone()








  

  
      

        

          virtual mrpt::rtti::CObject* mrpt::poses::CPose3D::clone 
          (
          )
           const
        

      

  		
  
overridevirtual  
  







Returns a deep copy (clone) of the object, indepently of its class. 



Implements mrpt::rtti::CObject.








◆ composeFrom()






      

        

          void 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. 



Definition at line 563 of file CPose3D.cpp.



References m_coords, m_ROT, and m_ypr_uptodate.



Referenced by mrpt::vision::add_lm_increment(), mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), changeCoordinatesReference(), mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), operator+(), mrpt::poses::CPose3DPDFGaussian::operator+=(), operator+=(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFStandard(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and Pose3DTests::test_composeFrom().



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◆ composePoint() [1/5]






      

        

          void CPose3D::composePoint 
          (
          double 
          lx, 
        

        

          
          
          double 
          ly, 
        

        

          
          
          double 
          lz, 
        

        

          
          
          double & 
          gx, 
        

        

          
          
          double & 
          gy, 
        

        

          
          
          double & 
          gz, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 3 > * 
          out_jacobian_df_dpoint = nullptr, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 6 > * 
          out_jacobian_df_dpose = nullptr, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 6 > * 
          out_jacobian_df_dse3 = nullptr, 
        

        

          
          
          bool 
          use_small_rot_approx = false 
        

        

          
          )
           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. 


If pointers are provided, the corresponding Jacobians are returned. "out_jacobian_df_dse3" stands for the Jacobian with respect to the 6D locally Euclidean vector in the tangent space of SE(3). See this report for mathematical details. 
Parameters

  

    
Ifset to true, the Jacobian "out_jacobian_df_dpose" uses a fastest linearized appoximation (valid only for small rotations!). 

  

  





Definition at line 368 of file CPose3D.cpp.



References mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray(), m_coords, m_pitch, m_roll, m_ROT, m_yaw, and updateYawPitchRoll().



Referenced by mrpt::poses::CPointPDFParticles::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::changeCoordinatesReference(), composePoint(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::vision::frameJac(), mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory(), generatePolygon(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CPointsMap::internal_computeObservationLikelihoodPointCloud3D(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::vision::pointJac(), project_point(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), Pose3DTests::test_composePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), and Pose3DTests::test_composePointJacob().



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◆ composePoint() [2/5]








  

  
      

        

          void mrpt::poses::CPose3D::composePoint 
          (
          const mrpt::math::TPoint3D & 
          local_point, 
        

        

          
          
          mrpt::math::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 292 of file CPose3D.h.



References composePoint(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.



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◆ composePoint() [3/5]








  

  
      

        

          mrpt::math::TPoint3D mrpt::poses::CPose3D::composePoint 
          (
          const mrpt::math::TPoint3D & 
          l)
           const
        

      

  		
  
inline  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 301 of file CPose3D.h.



References composePoint().



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◆ composePoint() [4/5]








  

  
      

        

          void mrpt::poses::CPose3D::composePoint 
          (
          const mrpt::math::TPoint3D & 
          local_point, 
        

        

          
          
          mrpt::math::TPoint2D & 
          global_point 
        

        

          
          )
           const
        

      

  		
  
inline  
  







This version of the method assumes that the resulting point has no Z component (use with caution!) 



Definition at line 311 of file CPose3D.h.



References composePoint(), mrpt::math::TPoint2D_data::x, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint2D_data::y, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.



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◆ composePoint() [5/5]








  

  
      

        

          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 323 of file CPose3D.h.



References composePoint().



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◆ Create()








template<typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPose3D::Create 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 87 of file CPose3D.h.








◆ CreateAlloc()








template<typename Alloc , typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPose3D::CreateAlloc 
          (
          const Alloc & 
          alloc, 
        

        

          
          
          Args &&... 
          args 
        

        

          
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 87 of file CPose3D.h.








◆ CreateObject()








  

  
      

        

          static std::shared_ptr<CObject> mrpt::poses::CPose3D::CreateObject 
          (
          )
          
        

      

  		
  
static  
  












◆ CreateUnique()








template<typename... Args> 



  

  
      

        

          static UniquePtr mrpt::poses::CPose3D::CreateUnique 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 87 of file CPose3D.h.








◆ derived() [1/2]








  

  
      

        

          const CPose3D & mrpt::poses::CPoseOrPoint< CPose3D , DIM >::derived 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Definition at line 129 of file CPoseOrPoint.h.








◆ derived() [2/2]








  

  
      

        

          CPose3D & mrpt::poses::CPoseOrPoint< CPose3D , DIM >::derived 
          (
          )
          
        

      

  		
  
inlineinherited  
  







Definition at line 133 of file CPoseOrPoint.h.








◆ distance2DTo()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distance2DTo 
          (
          double 
          ax, 
        

        

          
          
          double 
          ay 
        

        

          
          )
           const
        

      

  		
  
inlineinherited  
  







Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). 



Definition at line 237 of file CPoseOrPoint.h.








◆ distance2DToSquare()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distance2DToSquare 
          (
          double 
          ax, 
        

        

          
          
          double 
          ay 
        

        

          
          )
           const
        

      

  		
  
inlineinherited  
  







Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). 



Definition at line 221 of file CPoseOrPoint.h.








◆ distance3DTo()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distance3DTo 
          (
          double 
          ax, 
        

        

          
          
          double 
          ay, 
        

        

          
          
          double 
          az 
        

        

          
          )
           const
        

      

  		
  
inlineinherited  
  







Returns the 3D distance from this pose/point to a 3D point. 



Definition at line 243 of file CPoseOrPoint.h.








◆ distance3DToSquare()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distance3DToSquare 
          (
          double 
          ax, 
        

        

          
          
          double 
          ay, 
        

        

          
          
          double 
          az 
        

        

          
          )
           const
        

      

  		
  
inlineinherited  
  







Returns the squared 3D distance from this pose/point to a 3D point. 



Definition at line 228 of file CPoseOrPoint.h.








◆ distanceEuclidean6D()






      

        

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

      





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



Definition at line 352 of file CPose3D.cpp.



References m_coords, m_pitch, m_roll, m_yaw, mrpt::square(), updateYawPitchRoll(), and mrpt::math::wrapToPi().



Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().



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◆ distanceTo() [1/2]








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distanceTo 
          (
          const CPoseOrPoint< OTHERCLASS, DIM2 > & 
          b)
           const
        

      

  		
  
inlineinherited  
  







Returns the Euclidean distance to another pose/point: 



Definition at line 214 of file CPoseOrPoint.h.








◆ distanceTo() [2/2]








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::distanceTo 
          (
          const mrpt::math::TPoint3D & 
          b)
           const
        

      

  		
  
inlineinherited  
  







Returns the euclidean distance to a 3D point: 



Definition at line 249 of file CPoseOrPoint.h.








◆ duplicateGetSmartPtr()








  

  
      

        

          mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Makes a deep copy of the object and returns a smart pointer to it. 



Definition at line 200 of file CObject.h.



References mrpt::rtti::CObject::clone().



Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().



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◆ empty()








  

  
      

        

          static constexpr bool mrpt::poses::CPose3D::empty 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 686 of file CPose3D.h.








◆ fromString()






      

        

          void CPose3D::fromString 
          (
          const std::string & 
          s)
          
        

      





Set the current object value from a string generated by 'asString' (eg: "[x y z yaw pitch roll]", angles in deg. 


) 
See also
asString 


Exceptions

  

    
std::exceptionOn invalid format 

  

  





Definition at line 770 of file CPose3D.cpp.



References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::math::CMatrixDynamic< T >::rows(), setFromValues(), and THROW_EXCEPTION.



Referenced by fromStringRaw(), and mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific().



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◆ fromStringRaw()






      

        

          void CPose3D::fromStringRaw 
          (
          const std::string & 
          s)
          
        

      





Same as fromString, but without requiring the square brackets in the string. 



Definition at line 782 of file CPose3D.cpp.



References fromString().



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◆ getAs12Vector()








template<class ARRAYORVECTOR > 



  

  
      

        

          void mrpt::poses::CPose3D::getAs12Vector 
          (
          ARRAYORVECTOR & 
          vec12)
           const
        

      

  		
  
inline  
  







Get the pose representation as an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. 


See also
setFrom12Vector 



Definition at line 519 of file CPose3D.h.



References m_coords, and m_ROT.



Referenced by Pose3DTests::func_jacob_Aexpe_D(), Pose3DTests::func_jacob_D_expe(), Pose3DTests::func_jacob_expe_D(), and TEST().



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◆ getAsQuaternion()






      

        

          void CPose3D::getAsQuaternion 
          (
          mrpt::math::CQuaternionDouble & 
          q, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 4, 3 > * 
          out_dq_dr = nullptr 
        

        

          
          )
           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_drIf 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). 

  

  





Definition at line 508 of file CPose3D.cpp.



References mrpt::math::TPose3D::getAsQuaternion(), m_pitch, m_roll, m_yaw, and updateYawPitchRoll().



Referenced by mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), TEST_F(), QuaternionTests::test_gimbalLock(), QuaternionTests::test_lnAndExpMatches(), and Pose3DQuatTests::test_normalizeJacob().



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◆ getClassName()








  

  
      

        

          static constexpr auto mrpt::poses::CPose3D::getClassName 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 87 of file CPose3D.h.








◆ getHomogeneousMatrix()






      

        

          void CPose3D::getHomogeneousMatrix 
          (
          mrpt::math::CMatrixDouble44 & 
          out_HM)
           const
        

      





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


See also
getInverseHomogeneousMatrix, getRotationMatrix 



Definition at line 787 of file CPose3D.cpp.



References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), m_coords, and m_ROT.



Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::vision::computeMsd(), mrpt::vision::computeStereoRectificationMaps(), mrpt::vision::CDifodo::filterLevelSolution(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), and mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan().



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◆ getHomogeneousMatrixVal()








  

  
      

        

          MATRIX44 mrpt::poses::CPoseOrPoint< CPose3D , DIM >::getHomogeneousMatrixVal 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







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


See also
getInverseHomogeneousMatrix 



Definition at line 278 of file CPoseOrPoint.h.








◆ getInverseHomogeneousMatrix()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPose3D , DIM >::getInverseHomogeneousMatrix 
          (
          MATRIX44 & 
          out_HM)
           const
        

      

  		
  
inlineinherited  
  







Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. 


See also
getHomogeneousMatrix 



Definition at line 290 of file CPoseOrPoint.h.








◆ getInverseHomogeneousMatrixVal()








  

  
      

        

          MATRIX44 mrpt::poses::CPoseOrPoint< CPose3D , DIM >::getInverseHomogeneousMatrixVal 
          (
          )
           const
        

      

  		
  
inlineinherited  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 298 of file CPoseOrPoint.h.








◆ getOppositeScalar()






      

        

          CPose3D CPose3D::getOppositeScalar 
          (
          )
           const
        

      





Return the opposite of the current pose instance by taking the negative of all its components individually. 



Definition at line 328 of file CPose3D.cpp.



References CPose3D(), m_coords, m_pitch, m_roll, and m_yaw.



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◆ getPoseMean() [1/2]








  

  
      

        

          const type_value& mrpt::poses::CPose3D::getPoseMean 
          (
          )
           const
        

      

  		
  
inline  
  







Definition at line 669 of file CPose3D.h.








◆ getPoseMean() [2/2]








  

  
      

        

          type_value& mrpt::poses::CPose3D::getPoseMean 
          (
          )
          
        

      

  		
  
inline  
  







Definition at line 670 of file CPose3D.h.








◆ getRotationMatrix() [1/2]








  

  
      

        

          void mrpt::poses::CPose3D::getRotationMatrix 
          (
          mrpt::math::CMatrixDouble33 & 
          ROT)
           const
        

      

  		
  
inline  
  







Get the 3x3 rotation matrix. 


See also
getHomogeneousMatrix 



Definition at line 224 of file CPose3D.h.



References m_ROT.



Referenced by mrpt::poses::CPoint2DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPointPDFGaussian::changeCoordinatesReference(), mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::vision::frameJac(), jacob_dA_eps_D_p_deps(), mrpt::poses::operator!=(), mrpt::poses::operator==(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::gl_utils::renderSetOfObjects(), run_test_so3_avrg(), TEST(), and QuaternionTests::test_toYPRAndBack().



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◆ getRotationMatrix() [2/2]








  

  
      

        

          const mrpt::math::CMatrixDouble33& mrpt::poses::CPose3D::getRotationMatrix 
          (
          )
           const
        

      

  		
  
inline  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 229 of file CPose3D.h.



References m_ROT.








◆ GetRuntimeClass()








  

  
      

        

          virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3D::GetRuntimeClass 
          (
          )
           const
        

      

  		
  
overridevirtual  
  







Returns information about the class of an object in runtime. 



Reimplemented from mrpt::serialization::CSerializable.








◆ GetRuntimeClassIdStatic()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3D::GetRuntimeClassIdStatic 
          (
          )
          
        

      

  		
  
static  
  












◆ getYawPitchRoll()






      

        

          void CPose3D::getYawPitchRoll 
          (
          double & 
          yaw, 
        

        

          
          
          double & 
          pitch, 
        

        

          
          
          double & 
          roll 
        

        

          
          )
           const
        

      





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


See also
setFromValues, yaw, pitch, roll 



Definition at line 295 of file CPose3D.cpp.



References m_ROT, pitch(), roll(), and yaw().



Referenced by updateYawPitchRoll().



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◆ Identity()








  

  
      

        

          static CPose3D mrpt::poses::CPose3D::Identity 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Returns the identity transformation. 



Definition at line 138 of file CPose3D.h.



References CPose3D().



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◆ inverse()






      

        

          void CPose3D::inverse 
          (
          )
          
        

      





Convert this pose into its inverse, saving the result in itself. 


See also
operator-



Definition at line 591 of file CPose3D.cpp.



References mrpt::math::homogeneousMatrixInverse(), m_coords, m_ROT, m_ypr_uptodate, and mrpt::math::UNINITIALIZED_MATRIX.



Referenced by Pose3DTests::test_inverse().



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◆ inverseComposeFrom()






      

        

          void 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 



Definition at line 619 of file CPose3D.cpp.



References mrpt::math::homogeneousMatrixInverse(), m_coords, m_ROT, m_ypr_uptodate, and mrpt::math::UNINITIALIZED_MATRIX.



Referenced by operator-().



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◆ inverseComposePoint() [1/4]






      

        

          void CPose3D::inverseComposePoint 
          (
          const double 
          gx, 
        

        

          
          
          const double 
          gy, 
        

        

          
          
          const double 
          gz, 
        

        

          
          
          double & 
          lx, 
        

        

          
          
          double & 
          ly, 
        

        

          
          
          double & 
          lz, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 3 > * 
          out_jacobian_df_dpoint = nullptr, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 6 > * 
          out_jacobian_df_dpose = nullptr, 
        

        

          
          
          mrpt::math::CMatrixFixed< double, 3, 6 > * 
          out_jacobian_df_dse3 = nullptr 
        

        

          
          )
           const
        

      





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


If pointers are provided, the corresponding Jacobians are returned. "out_jacobian_df_dse3" stands for the Jacobian with respect to the 6D locally Euclidean vector in the tangent space of SE(3). See this report for mathematical details. 
See also
composePoint, composeFrom



composePoint, composeFrom 



Definition at line 647 of file CPose3D.cpp.



References mrpt::math::homogeneousMatrixInverse(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray(), m_coords, m_pitch, m_roll, m_ROT, m_yaw, mrpt::math::UNINITIALIZED_MATRIX, and updateYawPitchRoll().



Referenced by mrpt::vision::frameJac(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), inverseComposePoint(), mrpt::vision::pointJac(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), run_pc_filter_test(), sphericalCoordinates(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), and Pose3DTests::test_invComposePointJacob().



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◆ inverseComposePoint() [2/4]








  

  
      

        

          void mrpt::poses::CPose3D::inverseComposePoint 
          (
          const mrpt::math::TPoint3D & 
          g, 
        

        

          
          
          mrpt::math::TPoint3D & 
          l 
        

        

          
          )
           const
        

      

  		
  
inline  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 360 of file CPose3D.h.



References inverseComposePoint(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.



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◆ inverseComposePoint() [3/4]








  

  
      

        

          mrpt::math::TPoint3D mrpt::poses::CPose3D::inverseComposePoint 
          (
          const mrpt::math::TPoint3D & 
          g)
           const
        

      

  		
  
inline  
  






This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 



Definition at line 366 of file CPose3D.h.



References inverseComposePoint().



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◆ inverseComposePoint() [4/4]








  

  
      

        

          void mrpt::poses::CPose3D::inverseComposePoint 
          (
          const mrpt::math::TPoint2D & 
          g, 
        

        

          
          
          mrpt::math::TPoint2D & 
          l, 
        

        

          
          
          const double 
          eps = 1e-6 
        

        

          
          )
           const
        

      

  		
  
inline  
  







overload for 2D points 


Exceptions

  

    
Ifthe z component of the result is greater than some epsilon 

  

  





Definition at line 376 of file CPose3D.h.



References ASSERT_BELOW_, eps, inverseComposePoint(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.



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◆ inverseRotateVector()






      

        

          mrpt::math::TVector3D CPose3D::inverseRotateVector 
          (
          const mrpt::math::TVector3D & 
          global)
           const
        

      





Inverse of rotateVector(), i.e. 


using the inverse rotation matrix 



Definition at line 461 of file CPose3D.cpp.



References m_ROT, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.








◆ is3DPoseOrPoint()








  

  
      

        

          static bool mrpt::poses::CPoseOrPoint< CPose3D , DIM >::is3DPoseOrPoint 
          (
          )
          
        

      

  		
  
inlinestaticinherited  
  







Return true for poses or points with a Z component, false otherwise. 



Definition at line 180 of file CPoseOrPoint.h.








◆ is_3D()








  

  
      

        

          static constexpr bool mrpt::poses::CPose3D::is_3D 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 659 of file CPose3D.h.



References is_3D_val.








◆ is_PDF()








  

  
      

        

          static constexpr bool mrpt::poses::CPose3D::is_PDF 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 668 of file CPose3D.h.



References is_PDF_val.








◆ isHorizontal()






      

        

          bool 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). 



Definition at line 606 of file CPose3D.cpp.



References M_PI, m_pitch, m_roll, updateYawPitchRoll(), and mrpt::math::wrapToPi().



Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().



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◆ max_size()








  

  
      

        

          static constexpr size_type mrpt::poses::CPose3D::max_size 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 687 of file CPose3D.h.



References static_size.








◆ norm()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::norm 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $. 



Definition at line 256 of file CPoseOrPoint.h.








◆ normalizeAngles()






      

        

          void 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 



Definition at line 252 of file CPose3D.cpp.



References updateYawPitchRoll().



Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene().



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◆ operator*=()






      

        

          void CPose3D::operator*= 
          (
          const double 
          s)
          
        

      





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



Definition at line 280 of file CPose3D.cpp.



References m_coords, m_pitch, m_roll, m_yaw, rebuildRotationMatrix(), and updateYawPitchRoll().



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◆ operator+() [1/3]








  

  
      

        

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

      

  		
  
inline  
  







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



Definition at line 248 of file CPose3D.h.



References composeFrom(), and mrpt::poses::UNINITIALIZED_POSE.



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◆ operator+() [2/3]






      

        

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

      





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



Definition at line 538 of file CPose3D.cpp.



References m_coords, and m_ROT.








◆ operator+() [3/3]






      

        

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

      





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



Definition at line 552 of file CPose3D.cpp.



References m_coords, and m_ROT.








◆ operator+=()








  

  
      

        

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

      

  		
  
inline  
  







Make $ this = this \oplus b $ (b can be "this" without problems) 



Definition at line 393 of file CPose3D.h.



References composeFrom().



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◆ operator-()








  

  
      

        

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

      

  		
  
inline  
  







Compute $ RET = this \oplus b $. 



Definition at line 407 of file CPose3D.h.



References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.



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◆ operator[]()








  

  
      

        

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

      

  		
  
inline  
  







Definition at line 582 of file CPose3D.h.



References m_coords, m_pitch, m_roll, m_yaw, and updateYawPitchRoll().



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◆ pitch()








  

  
      

        

          double mrpt::poses::CPose3D::pitch 
          (
          )
           const
        

      

  		
  
inline  
  







Get the PITCH angle (in radians) 


See also
setFromValues 



Definition at line 548 of file CPose3D.h.



References m_pitch, and updateYawPitchRoll().



Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), asTPose(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), CPose3D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), getYawPitchRoll(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), mrpt::opengl::CDisk::traceRay(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().



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◆ rebuildRotationMatrix()








  

  
      

        

          void CPose3D::rebuildRotationMatrix 
          (
          )
          
        

      

  		
  
protected  
  







Rebuild the homog matrix from the angles. 



Definition at line 272 of file CPose3D.cpp.



References m_pitch, m_roll, m_ROT, and m_yaw.



Referenced by addComponents(), operator*=(), and setFromValues().



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◆ resize()








  

  
      

        

          static void mrpt::poses::CPose3D::resize 
          (
          const size_t 
          n)
          
        

      

  		
  
inlinestatic  
  







Definition at line 688 of file CPose3D.h.



References mrpt::format(), and static_size.



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◆ roll()








  

  
      

        

          double mrpt::poses::CPose3D::roll 
          (
          )
           const
        

      

  		
  
inline  
  







Get the ROLL angle (in radians) 


See also
setFromValues 



Definition at line 554 of file CPose3D.h.



References m_roll, and updateYawPitchRoll().



Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), asTPose(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), CPose3D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), getYawPitchRoll(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), mrpt::opengl::CDisk::traceRay(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().



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◆ rotateVector()






      

        

          mrpt::math::TVector3D CPose3D::rotateVector 
          (
          const mrpt::math::TVector3D & 
          local)
           const
        

      





Rotates a vector (i.e. 


like composePoint(), but ignoring translation) 



Definition at line 451 of file CPose3D.cpp.



References m_ROT, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.








◆ serializeFrom() [1/2]








  

  
      

        

          virtual void mrpt::serialization::CSerializable::serializeFrom 
          (
          CSchemeArchiveBase & 
          in)
          
        

      

  		
  
inlineprotectedvirtualinherited  
  







Virtual method for reading (deserializing) from an abstract schema based archive. 



Definition at line 74 of file CSerializable.h.



References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.



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◆ serializeFrom() [2/2]








  

  
      

        

          void CPose3D::serializeFrom 
          (
          mrpt::serialization::CArchive & 
          in, 
        

        

          
          
          uint8_t 
          serial_version 
        

        

          
          )
          
        

      

  		
  
overrideprotectedvirtual  
  







Pure virtual method for reading (deserializing) from an abstract archive. 


Users don't call this method directly. Instead, use stream >> object;.
Parameters

  

    
inThe input binary stream where the object data must read from.

    
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data. 

  

  




Exceptions

  

    
std::exceptionOn any I/O error 

  

  





Implements mrpt::serialization::CSerializable.



Definition at line 131 of file CPose3D.cpp.



References ASSERT_, mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), m_coords, m_ROT, m_ypr_uptodate, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::math::UNINITIALIZED_QUATERNION.



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◆ serializeGetVersion()








  

  
      

        

          uint8_t CPose3D::serializeGetVersion 
          (
          )
           const
        

      

  		
  
overrideprotectedvirtual  
  







Must return the current versioning number of the object. 


Start in zero for new classes, and increments each time there is a change in the stored format. 



Implements mrpt::serialization::CSerializable.



Definition at line 124 of file CPose3D.cpp.








◆ serializeTo() [1/2]








  

  
      

        

          virtual void mrpt::serialization::CSerializable::serializeTo 
          (
          CSchemeArchiveBase & 
          out)
           const
        

      

  		
  
inlineprotectedvirtualinherited  
  







Virtual method for writing (serializing) to an abstract schema based archive. 



Definition at line 64 of file CSerializable.h.



References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.



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◆ serializeTo() [2/2]








  

  
      

        

          void CPose3D::serializeTo 
          (
          mrpt::serialization::CArchive & 
          out)
           const
        

      

  		
  
overrideprotectedvirtual  
  







Pure virtual method for writing (serializing) to an abstract archive. 


Users don't call this method directly. Instead, use stream << object;. 
Exceptions

  

    
std::exceptionOn any I/O error 

  

  





Implements mrpt::serialization::CSerializable.



Definition at line 125 of file CPose3D.cpp.








◆ setFrom12Vector()








template<class ARRAYORVECTOR > 



  

  
      

        

          void mrpt::poses::CPose3D::setFrom12Vector 
          (
          const ARRAYORVECTOR & 
          vec12)
          
        

      

  		
  
inline  
  







Set pose from an array with these 12 elements: [r11 r21 r31 r12 r22 r32 r13 r23 r33 tx ty tz] where r{ij} are the entries of the 3x3 rotation matrix and t{x,y,z} are the 3D translation of the pose. 


See also
getAs12Vector 



Definition at line 495 of file CPose3D.h.



References m_coords, m_ROT, and m_ypr_uptodate.



Referenced by CPose3D().



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◆ setFromValues()






      

        

          void CPose3D::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 rotation matrix. 


See also
getYawPitchRoll, setYawPitchRoll 



Definition at line 256 of file CPose3D.cpp.



References m_coords, m_pitch, m_roll, m_yaw, m_ypr_uptodate, rebuildRotationMatrix(), and mrpt::math::wrapToPi().



Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), CPose3D(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), fromString(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::opengl::CRenderizable::setPose(), and setYawPitchRoll().



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◆ setFromXYZQ()








template<typename VECTORLIKE > 



  

  
      

        

          void mrpt::poses::CPose3D::setFromXYZQ 
          (
          const VECTORLIKE & 
          v, 
        

        

          
          
          const size_t 
          index_offset = 0 
        

        

          
          )
          
        

      

  		
  
inline  
  







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. 


See also
setFromValues, getYawPitchRoll, setYawPitchRoll, CQuaternion, getAsQuaternion 



Definition at line 464 of file CPose3D.h.



References ASSERT_ABOVEEQ_, m_coords, m_ROT, and m_ypr_uptodate.








◆ setRotationMatrix()








  

  
      

        

          void mrpt::poses::CPose3D::setRotationMatrix 
          (
          const mrpt::math::CMatrixDouble33 & 
          ROT)
          
        

      

  		
  
inline  
  







Sets the 3x3 rotation matrix. 


See also
getRotationMatrix, getHomogeneousMatrix 



Definition at line 236 of file CPose3D.h.



References m_ROT, and m_ypr_uptodate.



Referenced by mrpt::vision::CStereoRectifyMap::setFromCamParams().



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◆ setToNaN()








  

  
      

        

          void CPose3D::setToNaN 
          (
          )
          
        

      

  		
  
overridevirtual  
  







Set all data fields to quiet NaN. 



Implements mrpt::poses::CPoseOrPoint< CPose3D, DIM >.



Definition at line 755 of file CPose3D.cpp.



References m_coords, and m_ROT.








◆ setYawPitchRoll()








  

  
      

        

          void mrpt::poses::CPose3D::setYawPitchRoll 
          (
          const double 
          yaw_, 
        

        

          
          
          const double 
          pitch_, 
        

        

          
          
          const double 
          roll_ 
        

        

          
          )
          
        

      

  		
  
inline  
  







Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinates matrix. 


See also
getYawPitchRoll, setFromValues 



Definition at line 482 of file CPose3D.h.



References setFromValues(), mrpt::poses::CPoseOrPoint< CPose3D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose3D, DIM >::y().



Referenced by mrpt::opengl::CRenderizable::readFromStreamRender().



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◆ size()








  

  
      

        

          static constexpr size_type mrpt::poses::CPose3D::size 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 685 of file CPose3D.h.



References static_size.



Referenced by mrpt::obs::CObservation2DRangeScan::truncateByDistanceAndAngle().



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◆ sphericalCoordinates()






      

        

          void CPose3D::sphericalCoordinates 
          (
          const mrpt::math::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. 


For the coordinate system see the top of this page. 



Definition at line 303 of file CPose3D.cpp.



References inverseComposePoint(), local, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.



Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and Pose3DQuatTests::test_invComposePoint_vs_CPose3D().



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◆ sqrDistanceTo()








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::sqrDistanceTo 
          (
          const CPoseOrPoint< OTHERCLASS, DIM2 > & 
          b)
           const
        

      

  		
  
inlineinherited  
  







Returns the squared euclidean distance to another pose/point: 



Definition at line 187 of file CPoseOrPoint.h.








◆ updateYawPitchRoll()








  

  
      

        

          void mrpt::poses::CPose3D::updateYawPitchRoll 
          (
          )
           const
        

      

  		
  
inlineprotected  
  







Updates Yaw/pitch/roll members from the m_ROT. 



Definition at line 115 of file CPose3D.h.



References getYawPitchRoll(), m_pitch, m_roll, m_yaw, and m_ypr_uptodate.



Referenced by addComponents(), asString(), asVector(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), inverseComposePoint(), isHorizontal(), normalizeAngles(), operator*=(), operator[](), pitch(), roll(), and yaw().



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◆ writeToMatlab()








  

  
      

        

          virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab 
          (
          )
           const
        

      

  		
  
inlinevirtualinherited  
  







Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. 


Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. 



Definition at line 90 of file CSerializable.h.








◆ x() [1/3]








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::x 
          (
          )
           const
        

      

  		
  
inlineinherited  
  







Common members of all points & poses classes. 


< Get X coord. 



Definition at line 143 of file CPoseOrPoint.h.



Referenced by asTPose(), and setYawPitchRoll().








◆ x() [2/3]








  

  
      

        

          double& mrpt::poses::CPoseOrPoint< CPose3D , DIM >::x 
          (
          )
          
        

      

  		
  
inlineinherited  
  







Definition at line 152 of file CPoseOrPoint.h.








◆ x() [3/3]








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPose3D , DIM >::x 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vSet X coord. 

  

  





Definition at line 161 of file CPoseOrPoint.h.








◆ x_incr()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPose3D , DIM >::x_incr 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vX+=v 

  

  





Definition at line 170 of file CPoseOrPoint.h.








◆ y() [1/3]








  

  
      

        

          double mrpt::poses::CPoseOrPoint< CPose3D , DIM >::y 
          (
          )
           const
        

      

  		
  
inlineinherited  
  






< Get Y coord. 



Definition at line 147 of file CPoseOrPoint.h.



Referenced by asTPose(), and setYawPitchRoll().








◆ y() [2/3]








  

  
      

        

          double& mrpt::poses::CPoseOrPoint< CPose3D , DIM >::y 
          (
          )
          
        

      

  		
  
inlineinherited  
  







Definition at line 156 of file CPoseOrPoint.h.








◆ y() [3/3]








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPose3D , DIM >::y 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vSet Y coord. 

  

  





Definition at line 165 of file CPoseOrPoint.h.








◆ y_incr()








  

  
      

        

          void mrpt::poses::CPoseOrPoint< CPose3D , DIM >::y_incr 
          (
          const double 
          v)
          
        

      

  		
  
inlineinherited  
  






Parameters

  

    
vY+=v 

  

  





Definition at line 174 of file CPoseOrPoint.h.








◆ yaw()








  

  
      

        

          double mrpt::poses::CPose3D::yaw 
          (
          )
           const
        

      

  		
  
inline  
  







Get the YAW angle (in radians) 


See also
setFromValues 



Definition at line 542 of file CPose3D.h.



References m_yaw, and updateYawPitchRoll().



Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), asTPose(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), CPose3D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), getYawPitchRoll(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile(), mrpt::poses::CPose3DPDFGaussian::saveToTextFile(), mrpt::tfest::se3_l2_robust(), Pose3DTests::test_to_from_2d(), mrpt::opengl::CDisk::traceRay(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::opengl::CRenderizable::writeToStreamRender().



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Member Data Documentation



◆ _init_CPose3D








  

  
      

        

          mrpt::rtti::CLASSINIT mrpt::poses::CPose3D::_init_CPose3D
        

      

  		
  
staticprotected  
  







Definition at line 87 of file CPose3D.h.








◆ className








  

  
      

        

          constexpr const char* mrpt::poses::CPose3D::className = "CPose3D"
        

      

  		
  
static  
  







Definition at line 87 of file CPose3D.h.








◆ m_coords






      

        

          mrpt::math::CVectorFixedDouble<3> mrpt::poses::CPose3D::m_coords
        

      





The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods. 



Definition at line 96 of file CPose3D.h.



Referenced by addComponents(), asString(), asVector(), composeFrom(), composePoint(), CPose3D(), distanceEuclidean6D(), mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), getAs12Vector(), getHomogeneousMatrix(), getOppositeScalar(), inverse(), inverseComposeFrom(), inverseComposePoint(), mrpt::poses::operator!=(), operator*=(), operator+(), mrpt::poses::operator==(), operator[](), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::opengl::gl_utils::renderSetOfObjects(), serializeFrom(), setFrom12Vector(), setFromValues(), setFromXYZQ(), and setToNaN().








◆ m_pitch








  

  
      

        

          double mrpt::poses::CPose3D::m_pitch {0}
        

      

  		
  
mutableprotected  
  







Definition at line 109 of file CPose3D.h.



Referenced by addComponents(), asString(), asVector(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), getOppositeScalar(), inverseComposePoint(), isHorizontal(), operator*=(), operator[](), pitch(), rebuildRotationMatrix(), setFromValues(), and updateYawPitchRoll().








◆ m_roll








  

  
      

        

          double mrpt::poses::CPose3D::m_roll {0}
        

      

  		
  
mutableprotected  
  







Definition at line 109 of file CPose3D.h.



Referenced by addComponents(), asString(), asVector(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), getOppositeScalar(), inverseComposePoint(), isHorizontal(), operator*=(), operator[](), rebuildRotationMatrix(), roll(), setFromValues(), and updateYawPitchRoll().








◆ m_ROT








  

  
      

        

          mrpt::math::CMatrixDouble33 mrpt::poses::CPose3D::m_ROT
        

      

  		
  
protected  
  







The 3x3 rotation matrix, access with getRotationMatrix(), setRotationMatrix() (It's not safe to set this field as public) 



Definition at line 101 of file CPose3D.h.



Referenced by composeFrom(), composePoint(), CPose3D(), getAs12Vector(), getHomogeneousMatrix(), getRotationMatrix(), getYawPitchRoll(), inverse(), inverseComposeFrom(), inverseComposePoint(), inverseRotateVector(), operator+(), rebuildRotationMatrix(), rotateVector(), serializeFrom(), setFrom12Vector(), setFromXYZQ(), setRotationMatrix(), and setToNaN().








◆ m_yaw








  

  
      

        

          double mrpt::poses::CPose3D::m_yaw {0}
        

      

  		
  
mutableprotected  
  







These variables are updated every time that the object rotation matrix is modified (construction, loading from values, pose composition, etc ) 



Definition at line 109 of file CPose3D.h.



Referenced by addComponents(), asString(), asVector(), composePoint(), distanceEuclidean6D(), getAsQuaternion(), getOppositeScalar(), inverseComposePoint(), operator*=(), operator[](), rebuildRotationMatrix(), setFromValues(), updateYawPitchRoll(), and yaw().








◆ m_ypr_uptodate








  

  
      

        

          bool mrpt::poses::CPose3D::m_ypr_uptodate {true}
        

      

  		
  
mutableprotected  
  







Whether yaw/pitch/roll members are up-to-date since the last rotation matrix update. 



Definition at line 105 of file CPose3D.h.



Referenced by composeFrom(), inverse(), inverseComposeFrom(), serializeFrom(), setFrom12Vector(), setFromValues(), setFromXYZQ(), setRotationMatrix(), and updateYawPitchRoll().








◆ runtimeClassId








  

  
      

        

          const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3D::runtimeClassId
        

      

  		
  
staticprotected  
  







Definition at line 87 of file CPose3D.h.












 
 
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