Detailed Description

3D twist: 3D velocity vector (vx,vy,vz) + angular velocity (wx,wy,wz)

See also: mrpt::math::TTwist2D, mrpt::math::TPose3D

Definition at line 18 of file TTwist3D.h.

#include <mrpt/math/TTwist3D.h>

Inheritance diagram for mrpt::math::TTwist3D:

Public Types
enum	{ static_size = 6 }

Public Member Functions
constexpr	TTwist3D (double vx_, double vy_, double vz_, double wx_, double wy_, double wz_)
	Constructor from components. More...

	TTwist3D ()=default
	Default fast constructor. More...

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

constexpr double	operator[] (size_t i) const

double &	operator() (int row, int col)
	(i,0) access operator (provided for API compatibility with matrices). More...

constexpr double	operator() (int row, int col) const

void	operator*= (const double k)
	Scale factor. More...

template<typename VECTORLIKE >
void	asVector (VECTORLIKE &v) const
	Transformation into vector [vx vy vz wx wy wz]. More...

template<typename VECTORLIKE >
VECTORLIKE	asVector () const

template<typename VECTORLIKE >
void	fromVector (const VECTORLIKE &v)
	Sets from a vector [vx vy vz wx wy wz]. More...

bool	operator== (const TTwist3D &o) const

bool	operator!= (const TTwist3D &o) const

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[vx vy vz wx wy wz]", omegas in deg/s) More...

std::string	asString () const

void	rotate (const mrpt::math::TPose3D &rot)
	Transform all 6 components for a change of reference frame from "A" to another frame "B" whose rotation with respect to "A" is given by `rot`. More...

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[vx vy vz wx wy wz]" ) 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 TTwist3D	FromString (const std::string &s)

Public Attributes
double	vx {.0}
	Velocity components: X,Y (m/s) More...

double	vy {.0}

double	vz {.0}

double	wx {.0}
	Angular velocity (rad/s) More...

double	wy {.0}

double	wz {.0}

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 20 of file TTwist3D.h.

Constructor & Destructor Documentation

◆ TTwist3D() [1/2]

constexpr mrpt::math::TTwist3D::TTwist3D	(	double	vx_,
		double	vy_,
		double	vz_,
		double	wx_,
		double	wy_,
		double	wz_
	)

inline

Constructor from components.

Definition at line 31 of file TTwist3D.h.

◆ TTwist3D() [2/2]

mrpt::math::TTwist3D::TTwist3D ( )

default

Default fast constructor.

Initializes to zeros

Member Function Documentation

◆ asString() [1/2]

void TTwist3D::asString ( std::string & s ) const

Returns a human-readable textual representation of the object (eg: "[vx vy vz wx wy wz]", omegas in deg/s)

See also: fromString

Definition at line 24 of file Twist3D.cpp.

References mrpt::format(), mrpt::RAD2DEG(), vx, vy, vz, wx, wy, and wz.

Here is the call graph for this function:

◆ asString() [2/2]

std::string mrpt::math::TTwist3D::asString ( ) const

inline

Definition at line 135 of file TTwist3D.h.

◆ asVector() [1/2]

template<typename VECTORLIKE >

void mrpt::math::TTwist3D::asVector ( VECTORLIKE & v ) const

inline

Transformation into vector [vx vy vz wx wy wz].

Definition at line 108 of file TTwist3D.h.

◆ asVector() [2/2]

template<typename VECTORLIKE >

VECTORLIKE mrpt::math::TTwist3D::asVector ( ) const

inline

Definition at line 114 of file TTwist3D.h.

◆ cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

◆ fromString()

void TTwist3D::fromString ( const std::string & s )

Set the current object value from a string generated by 'asString' (eg: "[vx vy vz wx wy wz]" )

See also: asString

Exceptions

std::exception On invalid format

Definition at line 30 of file Twist3D.cpp.

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

Referenced by FromString().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ FromString()

static TTwist3D mrpt::math::TTwist3D::FromString ( const std::string & s )

inlinestatic

Definition at line 154 of file TTwist3D.h.

References fromString().

Here is the call graph for this function:

◆ fromVector()

template<typename VECTORLIKE >

void mrpt::math::TTwist3D::fromVector ( const VECTORLIKE & v )

inline

Sets from a vector [vx vy vz wx wy wz].

Definition at line 123 of file TTwist3D.h.

References ASSERT_EQUAL_.

◆ operator!=()

bool TTwist3D::operator!= ( const TTwist3D & o ) const

Definition at line 61 of file Twist3D.cpp.

◆ operator()() [1/2]

double& mrpt::math::TTwist3D::operator()	(	int	row,
		int	col
	)

inline

(i,0) access operator (provided for API compatibility with matrices).

See also: operator[]

Definition at line 83 of file TTwist3D.h.

References ASSERT_EQUAL_.

◆ operator()() [2/2]

constexpr double mrpt::math::TTwist3D::operator()	(	int	row,
		int	col
	)		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 89 of file TTwist3D.h.

References ASSERT_EQUAL_.

◆ operator*=()

void mrpt::math::TTwist3D::operator*= ( const double k )

inline

Scale factor.

Definition at line 96 of file TTwist3D.h.

References vx, vy, vz, wx, wy, and wz.

◆ operator==()

bool TTwist3D::operator== ( const TTwist3D & o ) const

Definition at line 56 of file Twist3D.cpp.

References vx, vy, vz, wx, wy, and wz.

◆ operator[]() [1/2]

double& mrpt::math::TTwist3D::operator[] ( size_t i )

inline

Coordinate access using operator[].

Order: vx,vy,vz, wx, wy, wz

Definition at line 39 of file TTwist3D.h.

References vx, vy, vz, wx, wy, and wz.

◆ operator[]() [2/2]

constexpr double mrpt::math::TTwist3D::operator[] ( size_t i ) 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 60 of file TTwist3D.h.

References vx, vy, vz, wx, wy, and wz.

◆ resize()

void mrpt::math::internal::ProvideStaticResize< TTwist3D >::resize ( std::size_t n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

◆ rotate()

void TTwist3D::rotate ( const mrpt::math::TPose3D & rot )

Transform all 6 components for a change of reference frame from "A" to another frame "B" whose rotation with respect to "A" is given by rot.

The translational part of the pose is ignored

Definition at line 43 of file Twist3D.cpp.

References mrpt::math::TPose3D::getRotationMatrix(), R, vx, vy, vz, wx, wy, and wz.

Here is the call graph for this function:

◆ rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

◆ size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist3D >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

Member Data Documentation

◆ vx

double mrpt::math::TTwist3D::vx {.0}

Velocity components: X,Y (m/s)

Definition at line 26 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

◆ vy

double mrpt::math::TTwist3D::vy {.0}

Definition at line 26 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

◆ vz

double mrpt::math::TTwist3D::vz {.0}

Definition at line 26 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

◆ wx

double mrpt::math::TTwist3D::wx {.0}

Angular velocity (rad/s)

Definition at line 28 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

◆ wy

double mrpt::math::TTwist3D::wy {.0}

Definition at line 28 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

◆ wz

double mrpt::math::TTwist3D::wz {.0}

Definition at line 28 of file TTwist3D.h.

Referenced by asString(), operator*=(), operator==(), operator[](), and rotate().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TTwist3D() [1/2]

◆ TTwist3D() [2/2]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ asVector() [1/2]

◆ asVector() [2/2]

◆ cols()

◆ fromString()

◆ FromString()

◆ fromVector()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ rotate()

◆ rows()

◆ size()

Member Data Documentation

◆ vx

◆ vy

◆ vz

◆ wx

◆ wy

◆ wz