Detailed Description

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

Allows coordinate access using [] operator.

See also: mrpt::poses::CPose3D

Examples:: comms_nodelets_example/NodeletsTest_impl.cpp.

Definition at line 24 of file TPose3D.h.

#include <mrpt/math/TPose3D.h>

Inheritance diagram for mrpt::math::TPose3D:

Public Types
enum	{ static_size = 6 }

Public Member Functions
	TPose3D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...

	TPose3D (const TPose2D &p)
	Implicit constructor from TPose2D. More...

	TPose3D (const TPoint3D &p)
	Implicit constructor from TPoint3D. More...

constexpr	TPose3D (double _x, double _y, double _z, double _yaw, double _pitch, double _roll)
	Constructor from coordinates. More...

constexpr	TPose3D ()=default
	Default fast constructor. More...

double &	operator[] (size_t i)
	Coordinate access using operator[]. More...

constexpr double	operator[] (size_t i) const
	Coordinate access using operator[]. More...

double	norm () const
	Pose's spatial coordinates norm. More...

void	asVector (std::vector< double > &v) const
	Gets the pose as a vector of doubles. More...

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	getAsQuaternion (mrpt::math::CQuaternion< double > &q, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 4, 3 >> out_dq_dr=std::nullopt) 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...

void	composePoint (const TPoint3D &l, TPoint3D &g) const

TPoint3D	composePoint (const TPoint3D &l) const

void	inverseComposePoint (const TPoint3D &g, TPoint3D &l) const

TPoint3D	inverseComposePoint (const TPoint3D &g) const

void	composePose (const TPose3D other, TPose3D &result) const

void	getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const

mrpt::math::CMatrixDouble33	getRotationMatrix () const

void	getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &HG) const

mrpt::math::CMatrixDouble44	getHomogeneousMatrix () const

void	getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &HG) const

mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const

void	fromHomogeneousMatrix (const mrpt::math::CMatrixDouble44 &HG)

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

constexpr std::size_t	rows () const

constexpr std::size_t	cols () const

constexpr std::size_t	size () const

void	resize (std::size_t n)
	throws if attempted to resize to incorrect length More...

Static Public Member Functions
static constexpr TPose3D	Identity ()
	Returns the identity transformation, T=eye(4) More...

static void	SO3_to_yaw_pitch_roll (const mrpt::math::CMatrixDouble33 &R, double &yaw, double &pitch, double &roll)

static TPose3D	FromString (const std::string &s)

Public Attributes
double	x {.0}
	X,Y,Z, coords. More...

double	y {.0}

double	z {.0}

double	yaw {.0}
	Yaw coordinate (rotation angle over Z axis). More...

double	pitch {.0}
	Pitch coordinate (rotation angle over Y axis). More...

double	roll {.0}
	Roll coordinate (rotation angle over X coordinate). More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 27 of file TPose3D.h.

Constructor & Destructor Documentation

◆ TPose3D() [1/5]

TPose3D::TPose3D ( const TPoint2D & p )

Implicit constructor from TPoint2D.

Zeroes all the unprovided information.

See also: TPoint2D

Definition at line 24 of file TPose3D.cpp.

◆ TPose3D() [2/5]

TPose3D::TPose3D ( const TPose2D & p )

Implicit constructor from TPose2D.

Gets the yaw from the 2D pose's phi, zeroing all the unprovided information.

See also: TPose2D

Definition at line 28 of file TPose3D.cpp.

◆ TPose3D() [3/5]

TPose3D::TPose3D ( const TPoint3D & p )

Implicit constructor from TPoint3D.

Zeroes angular information.

See also: TPoint3D

Definition at line 32 of file TPose3D.cpp.

◆ TPose3D() [4/5]

constexpr mrpt::math::TPose3D::TPose3D	(	double	_x,
		double	_y,
		double	_z,
		double	_yaw,
		double	_pitch,
		double	_roll
	)

inline

Constructor from coordinates.

Definition at line 62 of file TPose3D.h.

◆ TPose3D() [5/5]

constexpr mrpt::math::TPose3D::TPose3D ( )

default

Default fast constructor.

Initializes to zeros.

Referenced by Identity().

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Member Function Documentation

◆ asString() [1/2]

void TPose3D::asString ( std::string & s ) const

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

See also: fromString

Examples:: comms_nodelets_example/NodeletsTest_impl.cpp.

Definition at line 36 of file TPose3D.cpp.

References mrpt::format(), pitch, mrpt::RAD2DEG(), roll, x, y, yaw, and z.

Referenced by onNewMsg(), onNewMsg2(), and TEST().

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◆ asString() [2/2]

std::string mrpt::math::TPose3D::asString ( ) const

inline

Definition at line 136 of file TPose3D.h.

◆ asVector()

void mrpt::math::TPose3D::asVector ( std::vector< double > & v ) const

inline

Gets the pose as a vector of doubles.

Definition at line 121 of file TPose3D.h.

References pitch, roll, x, y, yaw, and z.

◆ cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3D >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

◆ composePoint() [1/2]

void TPose3D::composePoint	(	const TPoint3D &	l,
		TPoint3D &	g
	)		const

Definition at line 80 of file TPose3D.cpp.

References getRotationMatrix(), R, mrpt::math::TPoint3D_data< T >::x, x, mrpt::math::TPoint3D_data< T >::y, y, mrpt::math::TPoint3D_data< T >::z, and z.

Referenced by composePoint(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::math::project3D(), project_point(), mrpt::vision::recompute_errors_and_Jacobians(), and unsafeProjectPoint().

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◆ composePoint() [2/2]

TPoint3D TPose3D::composePoint ( const TPoint3D & l ) const

Definition at line 91 of file TPose3D.cpp.

References composePoint().

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◆ composePose()

void TPose3D::composePose	(	const TPose3D	other,
		TPose3D &	result
	)		const

Definition at line 209 of file TPose3D.cpp.

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

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

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◆ fromHomogeneousMatrix()

void TPose3D::fromHomogeneousMatrix ( const mrpt::math::CMatrixDouble44 & HG )

Definition at line 201 of file TPose3D.cpp.

References mrpt::math::MatrixBase< Scalar, Derived >::blockCopy(), pitch, roll, SO3_to_yaw_pitch_roll(), x, y, yaw, and z.

Referenced by composePose(), mrpt::math::TPolygon3D::contains(), mrpt::math::TPlane::getAsPose3D(), mrpt::math::TPlane::getAsPose3DForcingOrigin(), mrpt::math::intersect(), mrpt::math::operator-(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

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◆ fromString()

void TPose3D::fromString ( const std::string & s )

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

See also: asString

Exceptions

std::exception On invalid format

Definition at line 234 of file TPose3D.cpp.

References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), pitch, roll, mrpt::math::CMatrixDynamic< T >::rows(), THROW_EXCEPTION, x, y, yaw, and z.

Referenced by FromString().

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◆ FromString()

static TPose3D mrpt::math::TPose3D::FromString ( const std::string & s )

inlinestatic

Definition at line 200 of file TPose3D.h.

References fromString().

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◆ getAsQuaternion()

void TPose3D::getAsQuaternion	(	mrpt::math::CQuaternion< double > &	q,
		mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 4, 3 >>	out_dq_dr = `std::nullopt`
	)		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_dr If 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 42 of file TPose3D.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray(), pitch, roll, mrpt::math::CQuaternion< T >::w(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), yaw, and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::slerp(), and mrpt::math::slerp_ypr().

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◆ getHomogeneousMatrix() [1/2]

void TPose3D::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & HG ) const

Definition at line 217 of file TPose3D.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), getRotationMatrix(), R, x, y, and z.

Referenced by composePose(), createFromPoseAndAxis(), mrpt::math::createFromPoseAndVector(), createPlaneFromPoseAndAxis(), mrpt::math::createPlaneFromPoseAndNormal(), mrpt::math::operator-(), mrpt::math::project3D(), and TEST().

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◆ getHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::math::TPose3D::getHomogeneousMatrix ( ) const

inline

Definition at line 176 of file TPose3D.h.

Referenced by composePose(), and getInverseHomogeneousMatrix().

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◆ getInverseHomogeneousMatrix() [1/2]

void TPose3D::getInverseHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & HG ) const

Definition at line 228 of file TPose3D.cpp.

References getHomogeneousMatrix(), and mrpt::math::homogeneousMatrixInverse().

Referenced by mrpt::math::TPolygon3D::contains(), mrpt::math::intersect(), mrpt::math::operator-(), mrpt::math::project3D(), and mrpt::math::TPolygonWithPlane::TPolygonWithPlane().

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◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::math::TPose3D::getInverseHomogeneousMatrix ( ) const

inline

Definition at line 183 of file TPose3D.h.

Referenced by inverseComposePoint().

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◆ getRotationMatrix() [1/2]

void TPose3D::getRotationMatrix ( mrpt::math::CMatrixDouble33 & R ) const

Definition at line 116 of file TPose3D.cpp.

References pitch, R, roll, and yaw.

Referenced by mrpt::math::TTwist3D::rotate().

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◆ getRotationMatrix() [2/2]

mrpt::math::CMatrixDouble33 mrpt::math::TPose3D::getRotationMatrix ( ) const

inline

Definition at line 169 of file TPose3D.h.

References R.

Referenced by composePoint(), and getHomogeneousMatrix().

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◆ Identity()

static constexpr TPose3D mrpt::math::TPose3D::Identity ( )

inlinestatic

Returns the identity transformation, T=eye(4)

Definition at line 41 of file TPose3D.h.

References TPose3D().

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◆ inverseComposePoint() [1/2]

void TPose3D::inverseComposePoint	(	const TPoint3D &	g,
		TPoint3D &	l
	)		const

Definition at line 98 of file TPose3D.cpp.

References getInverseHomogeneousMatrix(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by inverseComposePoint().

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◆ inverseComposePoint() [2/2]

TPoint3D TPose3D::inverseComposePoint ( const TPoint3D & g ) const

Definition at line 109 of file TPose3D.cpp.

References inverseComposePoint().

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◆ norm()

double mrpt::math::TPose3D::norm ( ) const

inline

Pose's spatial coordinates norm.

Definition at line 117 of file TPose3D.h.

References mrpt::square(), x, y, and z.

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◆ operator[]() [1/2]

double& mrpt::math::TPose3D::operator[] ( size_t i )

inline

Coordinate access using operator[].

Order: x,y,z,yaw,pitch,roll

Definition at line 73 of file TPose3D.h.

References pitch, roll, x, y, yaw, and z.

◆ operator[]() [2/2]

constexpr double mrpt::math::TPose3D::operator[] ( size_t i ) const

inline

Coordinate access using operator[].

Order: x,y,z,yaw,pitch,roll

Definition at line 94 of file TPose3D.h.

References pitch, roll, x, y, yaw, and z.

◆ resize()

void mrpt::math::internal::ProvideStaticResize< TPose3D >::resize ( std::size_t n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

◆ rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3D >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

◆ size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose3D >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

◆ SO3_to_yaw_pitch_roll()

void TPose3D::SO3_to_yaw_pitch_roll	(	const mrpt::math::CMatrixDouble33 &	R,
		double &	yaw,
		double &	pitch,
		double &	roll
	)

static

Definition at line 137 of file TPose3D.cpp.

References ASSERTDEBMSG_, pitch, R, roll, mrpt::square(), and yaw.

Referenced by fromHomogeneousMatrix().

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Member Data Documentation

◆ pitch

double mrpt::math::TPose3D::pitch {.0}

Pitch coordinate (rotation angle over Y axis).

Definition at line 36 of file TPose3D.h.

Referenced by asString(), asVector(), mrpt::poses::CPose3D::CPose3D(), fromHomogeneousMatrix(), fromString(), getAsQuaternion(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), getRotationMatrix(), mrpt::poses::CPose3DGridTemplate< double >::idx2pitch(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::topography::path_from_rtk_gps(), mrpt::poses::CPose3DGridTemplate< double >::pitch2idx(), mrpt::poses::CPose3DPDFParticles::resetUniform(), mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile(), mrpt::math::slerp(), mrpt::math::slerp_ypr(), SO3_to_yaw_pitch_roll(), and TEST().

◆ roll

double mrpt::math::TPose3D::roll {.0}

Roll coordinate (rotation angle over X coordinate).

Definition at line 38 of file TPose3D.h.

Referenced by asString(), asVector(), mrpt::poses::CPose3D::CPose3D(), fromHomogeneousMatrix(), fromString(), getAsQuaternion(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), getRotationMatrix(), mrpt::poses::CPose3DGridTemplate< double >::idx2roll(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::topography::path_from_rtk_gps(), mrpt::poses::CPose3DPDFParticles::resetUniform(), mrpt::poses::CPose3DGridTemplate< double >::roll2idx(), mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile(), mrpt::math::slerp(), mrpt::math::slerp_ypr(), SO3_to_yaw_pitch_roll(), and TEST().

◆ x

double mrpt::math::TPose3D::x {.0}

X,Y,Z, coords.

Definition at line 32 of file TPose3D.h.

Referenced by asString(), asVector(), composePoint(), mrpt::poses::CPose3D::CPose3D(), fromHomogeneousMatrix(), fromString(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), getHomogeneousMatrix(), mrpt::poses::CPose3DGridTemplate< double >::idx2x(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), norm(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetOnFreeSpace(), mrpt::poses::CPose3DPDFParticles::resetUniform(), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetUniform(), mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile(), mrpt::math::slerp(), mrpt::math::slerp_ypr(), TEST(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::TPoint3D_(), and mrpt::poses::CPose3DGridTemplate< double >::x2idx().

◆ y

double mrpt::math::TPose3D::y {.0}

Definition at line 32 of file TPose3D.h.

Referenced by asString(), asVector(), composePoint(), mrpt::poses::CPose3D::CPose3D(), fromHomogeneousMatrix(), fromString(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), getHomogeneousMatrix(), mrpt::poses::CPose3DGridTemplate< double >::idx2y(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), norm(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetOnFreeSpace(), mrpt::poses::CPose3DPDFParticles::resetUniform(), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetUniform(), mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile(), mrpt::math::slerp(), mrpt::math::slerp_ypr(), TEST(), mrpt::math::TPoint2D_< double >::TPoint2D_(), mrpt::math::TPoint3D_< float >::TPoint3D_(), and mrpt::poses::CPose3DGridTemplate< double >::y2idx().

◆ yaw

double mrpt::math::TPose3D::yaw {.0}

Yaw coordinate (rotation angle over Z axis).

Definition at line 34 of file TPose3D.h.

Referenced by asString(), asVector(), mrpt::poses::CPose3D::CPose3D(), fromHomogeneousMatrix(), fromString(), getAsQuaternion(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), getRotationMatrix(), mrpt::poses::CPose3DGridTemplate< double >::idx2yaw(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetOnFreeSpace(), mrpt::poses::CPose3DPDFParticles::resetUniform(), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetUniform(), mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile(), mrpt::math::slerp(), mrpt::math::slerp_ypr(), SO3_to_yaw_pitch_roll(), TEST(), and mrpt::poses::CPose3DGridTemplate< double >::yaw2idx().

◆ z

double mrpt::math::TPose3D::z {.0}

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TPose3D() [1/5]

◆ TPose3D() [2/5]

◆ TPose3D() [3/5]

◆ TPose3D() [4/5]

◆ TPose3D() [5/5]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ asVector()

◆ cols()

◆ composePoint() [1/2]

◆ composePoint() [2/2]

◆ composePose()

◆ fromHomogeneousMatrix()

◆ fromString()

◆ FromString()

◆ getAsQuaternion()

◆ getHomogeneousMatrix() [1/2]

◆ getHomogeneousMatrix() [2/2]

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ getRotationMatrix() [1/2]

◆ getRotationMatrix() [2/2]

◆ Identity()

◆ inverseComposePoint() [1/2]

◆ inverseComposePoint() [2/2]

◆ norm()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ rows()

◆ size()

◆ SO3_to_yaw_pitch_roll()

Member Data Documentation

◆ pitch

◆ roll

◆ x

◆ y

◆ yaw

◆ z