Detailed Description

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

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

To access the translation use x(), y() and z(). To access the rotation, use CPose3DQuat::quat().

This class also behaves like a STL container, since it has begin(), end(), iterators, and can be accessed with the [] operator with indices running from 0 to 6 to access the [x y z qr qx qy qz] as if they were a vector. Thus, a CPose3DQuat can be used as a 7-vector anywhere the MRPT math functions expect any kind of vector.

This class and CPose3D are very similar, and they can be converted to the each other automatically via transformation constructors.

See also: CPose3D (for a class based on a 4x4 matrix instead of a quaternion), mrpt::math::TPose3DQuat, mrpt::poses::CPose3DQuatPDF for a probabilistic version of this class, mrpt::math::CQuaternion, CPoseOrPoint

Definition at line 45 of file CPose3DQuat.h.

#include <mrpt/poses/CPose3DQuat.h>

Inheritance diagram for mrpt::poses::CPose3DQuat:

Classes
struct	const_iterator

struct	iterator

Public Types
enum	{ is_3D_val = 1 }

enum	{ rotation_dimensions = 3 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3DQuat
	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
mrpt::math::CQuaternionDouble &	quat ()
	Read/Write access to the quaternion representing the 3D rotation. More...

const mrpt::math::CQuaternionDouble &	quat () const
	Read-only access to the quaternion representing the 3D rotation. More...

mrpt::math::CVectorFixedDouble< 3 > &	xyz ()
	Read/Write access to the translation vector in R^3. More...

const mrpt::math::CVectorFixedDouble< 3 > &	xyz () const
	Read-only access to the translation vector in R^3. More...

	CPose3DQuat ()
	Default constructor, initialize translation to zeros and quaternion to no rotation. More...

	CPose3DQuat (mrpt::math::TConstructorFlags_Quaternions)
	Constructor which left all the quaternion members un-initialized, for use when speed is critical; Use UNINITIALIZED_POSE as argument to this constructor. More...

	CPose3DQuat (TConstructorFlags_Poses)

	CPose3DQuat (const double x, const double y, const double z, const mrpt::math::CQuaternionDouble &q)
	Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary. More...

	CPose3DQuat (const CPose3D &p)
	Constructor from a CPose3D. More...

	CPose3DQuat (const mrpt::math::TPose3DQuat &p)
	Constructor from lightweight object. More...

mrpt::math::TPose3DQuat	asTPose () const

	CPose3DQuat (const mrpt::math::CMatrixDouble44 &M)
	Constructor from a 4x4 homogeneous transformation matrix. More...

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	asVector (vector_t &v) const
	Returns a 7x1 vector with [x y z qr qx qy qz]'. More...

void	composeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
	Makes $this = A \oplus B$ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object. More...

void	inverseComposeFrom (const CPose3DQuat &A, const CPose3DQuat &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...

void	composePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixed< double, 3, 3 > out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixed< double, 3, 7 > out_jacobian_df_dpose=nullptr) const
	Computes the 3D point G such as $G = this \oplus L$ . 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, 7 > out_jacobian_df_dpose=nullptr) const
	Computes the 3D point L such as $L = G \ominus this$ . More...

template<class POINT1 , class POINT2 >
void	composePoint (const POINT1 &L, POINT2 &G) const
	Computes the 3D point G such as $G = this \oplus L$ . More...

template<class POINT1 , class POINT2 >
void	inverseComposePoint (const POINT1 &G, POINT2 &L) const
	Computes the 3D point L such as $L = G \ominus this$ . More...

CPoint3D	operator+ (const CPoint3D &L) const
	Computes the 3D point G such as $G = this \oplus L$ . More...

mrpt::math::TPoint3D	operator+ (const mrpt::math::TPoint3D &L) const
	Computes the 3D point G such as $G = this \oplus L$ . More...

virtual void	operator*= (const double s)
	Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar). More...

CPose3DQuat &	operator+= (const CPose3DQuat &b)
	Make $this = this \oplus b$ . More...

CPose3DQuat	operator+ (const CPose3DQuat &p) const
	Return the composed pose $ret = this \oplus p$ . More...

CPose3DQuat &	operator-= (const CPose3DQuat &b)
	Make $this = this \ominus b$ . More...

CPose3DQuat	operator- (const CPose3DQuat &p) const
	Return the composed pose $ret = this \ominus p$ . More...

void	inverse ()
	Convert this pose into its inverse, saving the result in itself. More...

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[x y z qr qx qy qz]", angles in degrees.) More...

std::string	asString () const

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" ) More...

void	fromStringRaw (const std::string &s)
	Same as fromString, but without requiring the square brackets in the string. More...

double	operator[] (unsigned int i) const
	Read only [] operator. More...

double &	operator[] (unsigned int i)
	Read/write [] operator. More...

void	sphericalCoordinates (const mrpt::math::TPoint3D &point, double &out_range, double &out_yaw, double &out_pitch, mrpt::math::CMatrixFixed< double, 3, 3 > out_jacob_dryp_dpoint=nullptr, mrpt::math::CMatrixFixed< double, 3, 7 > out_jacob_dryp_dpose=nullptr) const
	Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object. More...

const type_value &	getPoseMean () const

type_value &	getPoseMean ()

void	setToNaN () override
	Set all data fields to quiet NaN. More...

const CPose3DQuat &	derived () const

CPose3DQuat &	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...

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 CPose3DQuat	FromString (const std::string &s)

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
mrpt::math::CVectorFixedDouble< 3 >	m_coords
	The translation vector [x,y,z]. More...

mrpt::math::CQuaternionDouble	m_quat
	The quaternion. More...

Protected Member Functions
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
	Serialize CSerializable Object to CSchemeArchiveBase derived object. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Serialize CSchemeArchiveBase derived object to CSerializable Object. 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...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose3DQuat >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DQuat >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DQuat >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DQuat >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose3DQuat"

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...

STL-like methods and typedefs

enum	{ static_size = 7 }

using	value_type = double
	The type of the elements. More...

using	reference = double &

using	const_reference = double

using	size_type = std::size_t

using	difference_type = std::ptrdiff_t

using	reverse_iterator = std::reverse_iterator< iterator >

using	const_reverse_iterator = std::reverse_iterator< const_iterator >

static constexpr size_type	size ()

static constexpr bool	empty ()

static constexpr size_type	max_size ()

static void	resize (const size_t n)

void	assign (const size_t N, const double val)

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

reverse_iterator	rbegin ()

const_reverse_iterator	rbegin () const

reverse_iterator	rend ()

const_reverse_iterator	rend () const

void	swap (CPose3DQuat &o)

static 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::CPose3DQuat::const_reference = double

Definition at line 359 of file CPose3DQuat.h.

◆ const_reverse_iterator

using mrpt::poses::CPose3DQuat::const_reverse_iterator = std::reverse_iterator<const_iterator>

Definition at line 607 of file CPose3DQuat.h.

◆ ConstPtr

using mrpt::poses::CPose3DQuat::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DQuat >

Definition at line 48 of file CPose3DQuat.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DQuat::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DQuat >

Definition at line 48 of file CPose3DQuat.h.

◆ difference_type

using mrpt::poses::CPose3DQuat::difference_type = std::ptrdiff_t

Definition at line 361 of file CPose3DQuat.h.

◆ Ptr

using mrpt::poses::CPose3DQuat::Ptr = std::shared_ptr< mrpt::poses :: CPose3DQuat >

A type for the associated smart pointer

Definition at line 48 of file CPose3DQuat.h.

◆ reference

using mrpt::poses::CPose3DQuat::reference = double&

Definition at line 358 of file CPose3DQuat.h.

◆ reverse_iterator

using mrpt::poses::CPose3DQuat::reverse_iterator = std::reverse_iterator<iterator>

Definition at line 606 of file CPose3DQuat.h.

◆ size_type

using mrpt::poses::CPose3DQuat::size_type = std::size_t

Definition at line 360 of file CPose3DQuat.h.

◆ type_value

using mrpt::poses::CPose3DQuat::type_value = CPose3DQuat

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

Definition at line 337 of file CPose3DQuat.h.

◆ UniquePtr

using mrpt::poses::CPose3DQuat::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DQuat >

Definition at line 48 of file CPose3DQuat.h.

◆ value_type

using mrpt::poses::CPose3DQuat::value_type = double

The type of the elements.

Definition at line 357 of file CPose3DQuat.h.

◆ vector_t

using mrpt::poses::CPoseOrPoint< CPose3DQuat , 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 338 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 343 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 347 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 364 of file CPose3DQuat.h.

Constructor & Destructor Documentation

◆ CPose3DQuat() [1/7]

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

inline

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

Definition at line 70 of file CPose3DQuat.h.

References m_coords.

◆ CPose3DQuat() [2/7]

mrpt::poses::CPose3DQuat::CPose3DQuat ( mrpt::math::TConstructorFlags_Quaternions )

inline

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

Definition at line 78 of file CPose3DQuat.h.

◆ CPose3DQuat() [3/7]

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

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 83 of file CPose3DQuat.h.

◆ CPose3DQuat() [4/7]

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

inline

Constructor with initilization of the pose - the quaternion is normalized to make sure it's unitary.

Definition at line 90 of file CPose3DQuat.h.

References m_coords, m_quat, mrpt::math::CQuaternion< T >::normalize(), mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::y().

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◆ CPose3DQuat() [5/7]

CPose3DQuat::CPose3DQuat ( const CPose3D & p )

explicit

Constructor from a CPose3D.

Definition at line 29 of file CPose3DQuat.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

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◆ CPose3DQuat() [6/7]

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

inline

Constructor from lightweight object.

Definition at line 105 of file CPose3DQuat.h.

References mrpt::math::TPose3DQuat::x, mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::x(), mrpt::math::TPose3DQuat::y, mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::y(), and mrpt::math::TPose3DQuat::z.

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◆ CPose3DQuat() [7/7]

CPose3DQuat::CPose3DQuat ( const mrpt::math::CMatrixDouble44 & M )

explicit

Constructor from a 4x4 homogeneous transformation matrix.

Definition at line 39 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3D::getAsQuaternion(), m_coords, and m_quat.

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuat::_GetBaseClass ( )

staticprotected

◆ assign()

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

inline

Definition at line 379 of file CPose3DQuat.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), m_coords, m_quat, and val.

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◆ asString() [1/2]

void mrpt::poses::CPose3DQuat::asString ( std::string & s ) const

inline

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

See also: fromString

Definition at line 240 of file CPose3DQuat.h.

References mrpt::format(), m_coords, and m_quat.

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◆ asString() [2/2]

std::string mrpt::poses::CPose3DQuat::asString ( ) const

inline

Definition at line 246 of file CPose3DQuat.h.

◆ asTPose()

TPose3DQuat CPose3DQuat::asTPose ( ) const

Definition at line 534 of file CPose3DQuat.cpp.

References m_quat, mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), and mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_ext_params_from_yml().

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◆ asVector()

void CPose3DQuat::asVector ( vector_t & v ) const

Returns a 7x1 vector with [x y z qr qx qy qz]'.

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

Definition at line 64 of file CPose3DQuat.cpp.

References m_coords, and m_quat.

◆ asVectorVal()

vector_t mrpt::poses::CPoseOrPoint< CPose3DQuat , 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.

◆ begin() [1/2]

iterator mrpt::poses::CPose3DQuat::begin ( )

inline

Definition at line 608 of file CPose3DQuat.h.

Referenced by rend().

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◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DQuat::begin ( ) const

inline

Definition at line 610 of file CPose3DQuat.h.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DQuat::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ composeFrom()

void CPose3DQuat::composeFrom	(	const CPose3DQuat &	A,
		const CPose3DQuat &	B
	)

Makes $this = A \oplus B$ this method is slightly more efficient than "this= A + B;" since it avoids the temporary object.

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.

See also: inverseComposeFrom, composePoint

Note: A or B can be "this" without problems.

Definition at line 79 of file CPose3DQuat.cpp.

References mrpt::math::CQuaternion< T >::crossProduct(), m_coords, and m_quat.

Referenced by operator+(), and operator+=().

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◆ composePoint() [1/2]

void CPose3DQuat::composePoint	(	const double	lx,
		const double	ly,
		const double	lz,
		double &	gx,
		double &	gy,
		double &	gz,
		mrpt::math::CMatrixFixed< double, 3, 3 > *	out_jacobian_df_dpoint = `nullptr`,
		mrpt::math::CMatrixFixed< double, 3, 7 > *	out_jacobian_df_dpose = `nullptr`
	)		const

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

See also: composeFrom, inverseComposePoint; inverseComposeFrom

Definition at line 114 of file CPose3DQuat.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray(), m_coords, m_quat, mrpt::math::CQuaternion< T >::normalizationJacobian(), quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::rotatePoint(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by composePoint(), mrpt::slam::CRangeBearingKFSLAM::OnInverseObservationModel(), operator+(), se3_l2_internal(), Pose3DQuatTests::test_composeAndInvComposePoint(), Pose3DQuatTests::test_composePoint_vs_CPose3D(), and Pose3DQuatTests::test_composePointJacob().

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◆ composePoint() [2/2]

template<class POINT1 , class POINT2 >

void mrpt::poses::CPose3DQuat::composePoint	(	const POINT1 &	L,
		POINT2 &	G
	)		const

inline

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

POINT1 and POINT1 can be anything supporing [0],[1],[2].

See also: composePoint

Definition at line 167 of file CPose3DQuat.h.

References composePoint(), and G.

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DQuat::Create ( Args &&... args )

inlinestatic

Definition at line 48 of file CPose3DQuat.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DQuat::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 48 of file CPose3DQuat.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DQuat::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DQuat::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 48 of file CPose3DQuat.h.

◆ derived() [1/2]

const CPose3DQuat & mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::derived ( ) const

inlineinherited

Definition at line 129 of file CPoseOrPoint.h.

◆ derived() [2/2]

CPose3DQuat & mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::derived ( )

inlineinherited

Definition at line 133 of file CPoseOrPoint.h.

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose3DQuat , 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< CPose3DQuat , 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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

static constexpr bool mrpt::poses::CPose3DQuat::empty ( )

inlinestatic

Definition at line 369 of file CPose3DQuat.h.

◆ end() [1/2]

iterator mrpt::poses::CPose3DQuat::end ( )

inline

Definition at line 609 of file CPose3DQuat.h.

References static_size.

Referenced by rbegin().

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◆ end() [2/2]

const_iterator mrpt::poses::CPose3DQuat::end ( ) const

inline

Definition at line 611 of file CPose3DQuat.h.

References static_size.

◆ fromString()

void CPose3DQuat::fromString ( const std::string & s )

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8 1 0 0 0]" )

See also: asString

Exceptions

std::exception On invalid format

Definition at line 540 of file CPose3DQuat.cpp.

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

Referenced by FromString(), and fromStringRaw().

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◆ FromString()

static CPose3DQuat mrpt::poses::CPose3DQuat::FromString ( const std::string & s )

inlinestatic

Definition at line 264 of file CPose3DQuat.h.

References fromString().

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◆ fromStringRaw()

void CPose3DQuat::fromStringRaw ( const std::string & s )

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

Definition at line 555 of file CPose3DQuat.cpp.

References fromString().

Referenced by mrpt::poses::internal::getPoseFromString< true, false >().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DQuat::getClassName ( )

inlinestatic

Definition at line 48 of file CPose3DQuat.h.

◆ getHomogeneousMatrix()

void CPose3DQuat::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

Definition at line 53 of file CPose3DQuat.cpp.

References m_coords, m_quat, and mrpt::math::CQuaternion< T >::rotationMatrixNoResize().

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◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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.

◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose3DQuat::getPoseMean ( ) const

inline

Definition at line 352 of file CPose3DQuat.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose3DQuat::getPoseMean ( )

inline

Definition at line 353 of file CPose3DQuat.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuat::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::CPose3DQuat::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DQuat::inverse ( )

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

See also: operator-

Definition at line 489 of file CPose3DQuat.cpp.

References inverseComposePoint(), m_coords, and m_quat.

Referenced by mrpt::poses::operator-().

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◆ inverseComposeFrom()

void CPose3DQuat::inverseComposeFrom	(	const CPose3DQuat &	A,
		const CPose3DQuat &	B
	)

Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note: A or B can be "this" without problems.

See also: composeFrom, composePoint

Note: A or B can be "this" without problems.

See also: composeFrom

Definition at line 98 of file CPose3DQuat.cpp.

References mrpt::math::CQuaternion< T >::crossProduct(), m_coords, m_quat, mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::rotatePoint(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by operator-(), and operator-=().

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◆ inverseComposePoint() [1/2]

void CPose3DQuat::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, 7 > *	out_jacobian_df_dpose = `nullptr`
	)		const

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

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

See also: composePoint, composeFrom; composeFrom

Definition at line 187 of file CPose3DQuat.cpp.

References mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::math::CQuaternion< T >::inverseRotatePoint(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray(), m_coords, m_quat, mrpt::math::CQuaternion< T >::normalizationJacobian(), quat(), mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by generate_points(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), inverse(), inverseComposePoint(), mrpt::poses::operator-(), mrpt::vision::pinhole::projectPoints_with_distortion(), sphericalCoordinates(), Pose3DQuatTests::test_composeAndInvComposePoint(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), and Pose3DQuatTests::test_invComposePointJacob().

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◆ inverseComposePoint() [2/2]

template<class POINT1 , class POINT2 >

void mrpt::poses::CPose3DQuat::inverseComposePoint	(	const POINT1 &	G,
		POINT2 &	L
	)		const

inline

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

See also: inverseComposePoint

Definition at line 175 of file CPose3DQuat.h.

References G, and inverseComposePoint().

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◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose3DQuat , 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::CPose3DQuat::is_3D ( )

inlinestatic

Definition at line 342 of file CPose3DQuat.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose3DQuat::is_PDF ( )

inlinestatic

Definition at line 351 of file CPose3DQuat.h.

References is_PDF_val.

◆ max_size()

static constexpr size_type mrpt::poses::CPose3DQuat::max_size ( )

inlinestatic

Definition at line 370 of file CPose3DQuat.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose3DQuat , 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.

◆ operator*=()

void CPose3DQuat::operator*= ( const double s )

virtual

Scalar multiplication (all x y z qr qx qy qz elements are multiplied by the scalar).

Definition at line 315 of file CPose3DQuat.cpp.

References m_coords, and m_quat.

◆ operator+() [1/3]

CPoint3D mrpt::poses::CPose3DQuat::operator+ ( const CPoint3D & L ) const

inline

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

See also: composePoint

Definition at line 182 of file CPose3DQuat.h.

References composePoint(), and G.

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◆ operator+() [2/3]

mrpt::math::TPoint3D mrpt::poses::CPose3DQuat::operator+ ( const mrpt::math::TPoint3D & L ) const

inline

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

See also: composePoint

Definition at line 191 of file CPose3DQuat.h.

References composePoint(), and G.

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◆ operator+() [3/3]

CPose3DQuat mrpt::poses::CPose3DQuat::operator+ ( const CPose3DQuat & p ) const

inline

Return the composed pose $ret = this \oplus p$ .

Definition at line 210 of file CPose3DQuat.h.

References composeFrom().

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◆ operator+=()

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

inline

Make $this = this \oplus b$ .

Definition at line 203 of file CPose3DQuat.h.

References composeFrom().

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◆ operator-()

CPose3DQuat mrpt::poses::CPose3DQuat::operator- ( const CPose3DQuat & p ) const

inline

Return the composed pose $ret = this \ominus p$ .

Definition at line 225 of file CPose3DQuat.h.

References inverseComposeFrom().

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◆ operator-=()

CPose3DQuat& mrpt::poses::CPose3DQuat::operator-= ( const CPose3DQuat & b )

inline

Make $this = this \ominus b$ .

Definition at line 218 of file CPose3DQuat.h.

References inverseComposeFrom().

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◆ operator[]() [1/2]

double mrpt::poses::CPose3DQuat::operator[] ( unsigned int i ) const

inline

Read only [] operator.

Definition at line 272 of file CPose3DQuat.h.

References m_coords, and m_quat.

◆ operator[]() [2/2]

double& mrpt::poses::CPose3DQuat::operator[] ( unsigned int i )

inline

Read/write [] operator.

Definition at line 296 of file CPose3DQuat.h.

References m_coords, and m_quat.

◆ quat() [1/2]

mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( )

inline

Read/Write access to the quaternion representing the 3D rotation.

Definition at line 58 of file CPose3DQuat.h.

References m_quat.

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◆ quat() [2/2]

const mrpt::math::CQuaternionDouble& mrpt::poses::CPose3DQuat::quat ( ) const

inline

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

Definition at line 60 of file CPose3DQuat.h.

References m_quat.

◆ rbegin() [1/2]

reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( )

inline

Definition at line 615 of file CPose3DQuat.h.

References end().

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◆ rbegin() [2/2]

const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( ) const

inline

Definition at line 616 of file CPose3DQuat.h.

References end().

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◆ rend() [1/2]

reverse_iterator mrpt::poses::CPose3DQuat::rend ( )

inline

Definition at line 620 of file CPose3DQuat.h.

References begin().

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◆ rend() [2/2]

const_reverse_iterator mrpt::poses::CPose3DQuat::rend ( ) const

inline

Definition at line 621 of file CPose3DQuat.h.

References begin().

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◆ resize()

static void mrpt::poses::CPose3DQuat::resize ( const size_t n )

inlinestatic

Definition at line 371 of file CPose3DQuat.h.

References mrpt::format(), and static_size.

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◆ serializeFrom() [1/2]

void CPose3DQuat::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Serialize CSchemeArchiveBase derived object to CSerializable Object.

Implements mrpt::serialization::CSerializable.

Definition at line 332 of file CPose3DQuat.cpp.

References m_coords, m_quat, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

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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◆ serializeGetVersion()

uint8_t CPose3DQuat::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 326 of file CPose3DQuat.cpp.

◆ serializeTo() [1/2]

void CPose3DQuat::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Serialize CSerializable Object to CSchemeArchiveBase derived object.

Implements mrpt::serialization::CSerializable.

Definition at line 327 of file CPose3DQuat.cpp.

References m_coords, m_quat, and out.

◆ serializeTo() [2/2]

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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◆ setToNaN()

void CPose3DQuat::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose3DQuat, DIM >.

Definition at line 500 of file CPose3DQuat.cpp.

References m_coords, and quat().

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◆ size()

static constexpr size_type mrpt::poses::CPose3DQuat::size ( )

inlinestatic

Definition at line 368 of file CPose3DQuat.h.

References static_size.

◆ sphericalCoordinates()

void CPose3DQuat::sphericalCoordinates	(	const mrpt::math::TPoint3D &	point,
		double &	out_range,
		double &	out_yaw,
		double &	out_pitch,
		mrpt::math::CMatrixFixed< double, 3, 3 > *	out_jacob_dryp_dpoint = `nullptr`,
		mrpt::math::CMatrixFixed< double, 3, 7 > *	out_jacob_dryp_dpose = `nullptr`
	)		const

Computes the spherical coordinates of a 3D point as seen from the 6D pose specified by this object.

For the coordinate system see the top of this page. If the matrix pointers are not nullptr, the Jacobians will be also computed for the range-yaw-pitch variables wrt the passed 3D point and this 7D pose.

Definition at line 386 of file CPose3DQuat.cpp.

References inverseComposePoint(), mrpt::math::TPoint3D_< T >::norm(), mrpt::square(), THROW_EXCEPTION, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by Pose3DQuatTests::func_spherical_coords(), mrpt::slam::CRangeBearingKFSLAM::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM::OnObservationModel(), and Pose3DQuatTests::test_sphericalCoords().

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◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat , 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.

◆ swap()

void mrpt::poses::CPose3DQuat::swap ( CPose3DQuat & o )

inline

Definition at line 626 of file CPose3DQuat.h.

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

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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< CPose3DQuat , 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 CPose3DQuat().

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::x ( )

inlineinherited

Definition at line 152 of file CPoseOrPoint.h.

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 161 of file CPoseOrPoint.h.

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 170 of file CPoseOrPoint.h.

◆ xyz() [1/2]

mrpt::math::CVectorFixedDouble<3>& mrpt::poses::CPose3DQuat::xyz ( )

inline

Read/Write access to the translation vector in R^3.

Definition at line 62 of file CPose3DQuat.h.

References m_coords.

◆ xyz() [2/2]

const mrpt::math::CVectorFixedDouble<3>& mrpt::poses::CPose3DQuat::xyz ( ) const

inline

Read-only access to the translation vector in R^3.

Definition at line 64 of file CPose3DQuat.h.

References m_coords.

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 147 of file CPoseOrPoint.h.

Referenced by asTPose(), and CPose3DQuat().

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::y ( )

inlineinherited

Definition at line 156 of file CPoseOrPoint.h.

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 165 of file CPoseOrPoint.h.

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose3DQuat , DIM >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 174 of file CPoseOrPoint.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPose3DQuat::className = "mrpt::poses" "::" "CPose3DQuat"

static

Definition at line 48 of file CPose3DQuat.h.

◆ m_coords

mrpt::math::CVectorFixedDouble<3> mrpt::poses::CPose3DQuat::m_coords

◆ m_quat

mrpt::math::CQuaternionDouble mrpt::poses::CPose3DQuat::m_quat

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DQuat::runtimeClassId

staticprotected

Definition at line 48 of file CPose3DQuat.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ const_reverse_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ Ptr

◆ reference

◆ reverse_iterator

◆ size_type

◆ type_value

◆ UniquePtr

◆ value_type

◆ vector_t

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DQuat() [1/7]

◆ CPose3DQuat() [2/7]

◆ CPose3DQuat() [3/7]

◆ CPose3DQuat() [4/7]

◆ CPose3DQuat() [5/7]

◆ CPose3DQuat() [6/7]

◆ CPose3DQuat() [7/7]

Member Function Documentation

◆ _GetBaseClass()

◆ assign()

◆ asString() [1/2]

◆ asString() [2/2]

◆ asTPose()

◆ asVector()

◆ asVectorVal()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ composeFrom()

◆ composePoint() [1/2]

◆ composePoint() [2/2]

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ derived() [1/2]

◆ derived() [2/2]

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ fromString()

◆ FromString()

◆ fromStringRaw()

◆ getClassName()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ inverseComposeFrom()