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 48 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 }

typedef CPose3DQuat	type_value
	Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...

typedef CPose3DQuat	mrpt_autotype
	See ops_containers.h. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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

const mrpt::math::CArrayDouble< 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...

	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	getAsVector (mrpt::math::CVectorDouble &v) const
	Returns a 1x7 vector with [x y z qr qx qy qz]. More...

void	getAsVector (mrpt::math::CArrayDouble< 7 > &v) const

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::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< 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::CMatrixFixedNumeric< double, 3, 3 > out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< 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...

const 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::CMatrixFixedNumeric< double, 3, 3 > out_jacob_dryp_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< 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...

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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static bool	is_3D ()

static bool	is_PDF ()

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

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

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

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

using	ConstPtr = std::shared_ptr< const CPose3DQuat >

static mrpt::utils::CLASSINIT	_init_CPose3DQuat

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DQuat"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::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 }

typedef double	value_type
	The type of the elements. More...

typedef double &	reference

typedef const double &	const_reference

typedef std::size_t	size_type

typedef std::ptrdiff_t	difference_type

typedef std::reverse_iterator< iterator >	reverse_iterator

typedef std::reverse_iterator< const_iterator >	const_reverse_iterator

static size_type	size ()

static bool	empty ()

static 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 > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS > &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...

mrpt::math::CVectorDouble	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

mrpt::math::CMatrixDouble44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const

Member Typedef Documentation

◆ const_reference

typedef const double& mrpt::poses::CPose3DQuat::const_reference

Definition at line 376 of file CPose3DQuat.h.

◆ const_reverse_iterator

typedef std::reverse_iterator<const_iterator> mrpt::poses::CPose3DQuat::const_reverse_iterator

Definition at line 629 of file CPose3DQuat.h.

◆ ConstPtr

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

Definition at line 50 of file CPose3DQuat.h.

◆ difference_type

typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type

Definition at line 378 of file CPose3DQuat.h.

◆ mrpt_autotype

typedef CPose3DQuat mrpt::poses::CPose3DQuat::mrpt_autotype

See ops_containers.h.

Definition at line 656 of file CPose3DQuat.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 50 of file CPose3DQuat.h.

◆ reference

typedef double& mrpt::poses::CPose3DQuat::reference

Definition at line 375 of file CPose3DQuat.h.

◆ reverse_iterator

typedef std::reverse_iterator<iterator> mrpt::poses::CPose3DQuat::reverse_iterator

Definition at line 628 of file CPose3DQuat.h.

◆ size_type

typedef std::size_t mrpt::poses::CPose3DQuat::size_type

Definition at line 377 of file CPose3DQuat.h.

◆ type_value

typedef CPose3DQuat mrpt::poses::CPose3DQuat::type_value

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

Definition at line 354 of file CPose3DQuat.h.

◆ value_type

typedef double mrpt::poses::CPose3DQuat::value_type

The type of the elements.

Definition at line 374 of file CPose3DQuat.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 355 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 360 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 364 of file CPose3DQuat.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 381 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 69 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 77 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 82 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 89 of file CPose3DQuat.h.

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

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◆ CPose3DQuat() [5/7]

CPose3DQuat::CPose3DQuat ( const CPose3D & p )

explicit

Constructor from a CPose3D.

Definition at line 26 of file CPose3DQuat.cpp.

◆ CPose3DQuat() [6/7]

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

inline

Constructor from lightweight object.

Definition at line 104 of file CPose3DQuat.h.

References mrpt::poses::CPoseOrPoint< CPose3DQuat >::x(), and mrpt::poses::CPoseOrPoint< CPose3DQuat >::y().

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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 36 of file CPose3DQuat.cpp.

References m_coords, and m_quat.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ assign()

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

inline

Definition at line 397 of file CPose3DQuat.h.

References m_coords, m_quat, and val.

◆ 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 249 of file CPose3DQuat.h.

References mrpt::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 255 of file CPose3DQuat.h.

◆ begin() [1/2]

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

inline

Definition at line 630 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 632 of file CPose3DQuat.h.

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::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 78 of file CPose3DQuat.cpp.

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

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::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< 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 113 of file CPose3DQuat.cpp.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), m_coords, m_quat, mrpt::math::CQuaternion< T >::normalizationJacobian(), quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::rotatePoint(), mrpt::math::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 176 of file CPose3DQuat.h.

References composePoint().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 50 of file CPose3DQuat.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DQuat::CreateObject ( )

static

◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::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 233 of file CPoseOrPoint.h.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::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 213 of file CPoseOrPoint.h.

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

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

Definition at line 239 of file CPoseOrPoint.h.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::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 220 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 206 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 245 of file CPoseOrPoint.h.

◆ empty()

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

inlinestatic

Definition at line 386 of file CPose3DQuat.h.

◆ end() [1/2]

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

inline

Definition at line 631 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 633 of file CPose3DQuat.h.

References static_size.

◆ fromString()

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

inline

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 267 of file CPose3DQuat.h.

References ASSERTMSG_, m_coords, m_quat, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

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◆ fromStringRaw()

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

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

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

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◆ getAsVector() [1/2]

void CPose3DQuat::getAsVector ( mrpt::math::CVectorDouble & v ) const

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

Definition at line 62 of file CPose3DQuat.cpp.

References m_coords, and m_quat.

◆ getAsVector() [2/2]

void mrpt::poses::CPose3DQuat::getAsVector ( mrpt::math::CArrayDouble< 7 > & v ) 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 125 of file CPose3DQuat.h.

References m_coords, and m_quat.

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose3DQuat >::getAsVectorVal ( ) const

inlineinherited

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

Definition at line 265 of file CPoseOrPoint.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 50 of file CPose3DQuat.cpp.

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

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◆ getHomogeneousMatrixVal()

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3DQuat >::getHomogeneousMatrixVal ( ) const

inlineinherited

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

See also: getInverseHomogeneousMatrix

Definition at line 276 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPose3DQuat >::getInverseHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

inlineinherited

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

See also: getHomogeneousMatrix

Definition at line 287 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose3DQuat >::getInverseHomogeneousMatrix ( ) 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 295 of file CPoseOrPoint.h.

◆ getPoseMean() [1/2]

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

inline

Definition at line 369 of file CPose3DQuat.h.

◆ getPoseMean() [2/2]

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

inline

Definition at line 370 of file CPose3DQuat.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuat::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::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 470 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 97 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::CMatrixFixedNumeric< double, 3, 3 > *	out_jacobian_df_dpoint = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< 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 188 of file CPose3DQuat.cpp.

References mrpt::math::CQuaternion< T >::inverseRotatePoint(), mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::loadFromArray(), m_coords, m_quat, mrpt::math::CQuaternion< T >::normalizationJacobian(), quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::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::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 184 of file CPose3DQuat.h.

References inverseComposePoint().

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◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose3DQuat >::is3DPoseOrPoint ( )

inlinestaticinherited

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

Definition at line 172 of file CPoseOrPoint.h.

◆ is_3D()

static bool mrpt::poses::CPose3DQuat::is_3D ( )

inlinestatic

Definition at line 359 of file CPose3DQuat.h.

References is_3D_val.

◆ is_PDF()

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

inlinestatic

Definition at line 368 of file CPose3DQuat.h.

References is_PDF_val.

◆ max_size()

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

inlinestatic

Definition at line 387 of file CPose3DQuat.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::norm ( ) const

inlineinherited

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

Definition at line 252 of file CPoseOrPoint.h.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DQuat::operator delete ( void * ptr )

inlinenoexcept

Definition at line 50 of file CPose3DQuat.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DQuat::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 50 of file CPose3DQuat.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DQuat::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 50 of file CPose3DQuat.h.

◆ operator delete[]()

void mrpt::poses::CPose3DQuat::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 50 of file CPose3DQuat.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose3DQuat::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 50 of file CPose3DQuat.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DQuat::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 50 of file CPose3DQuat.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DQuat::operator new ( size_t size )

inline

Definition at line 50 of file CPose3DQuat.h.

◆ operator new[]()

void* mrpt::poses::CPose3DQuat::operator new[] ( size_t size )

inline

Definition at line 50 of file CPose3DQuat.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 318 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 191 of file CPose3DQuat.h.

References composePoint().

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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 200 of file CPose3DQuat.h.

References composePoint().

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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 219 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 212 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 234 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 227 of file CPose3DQuat.h.

References inverseComposeFrom().

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◆ operator[]() [1/2]

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

inline

Read only [] operator.

Definition at line 288 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 312 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 60 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 62 of file CPose3DQuat.h.

References m_quat.

◆ rbegin() [1/2]

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

inline

Definition at line 637 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 638 of file CPose3DQuat.h.

References end().

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◆ readFromStream()

void CPose3DQuat::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 348 of file CPose3DQuat.cpp.

References m_coords, m_quat, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ rend() [1/2]

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

inline

Definition at line 642 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 643 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 388 of file CPose3DQuat.h.

References mrpt::format(), and static_size.

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◆ setToNaN()

void CPose3DQuat::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

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

Definition at line 481 of file CPose3DQuat.cpp.

References m_coords, and quat().

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◆ size()

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

inlinestatic

Definition at line 385 of file CPose3DQuat.h.

References static_size.

Referenced by mrpt::slam::CRangeBearingKFSLAM::OnObservationModel().

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◆ sphericalCoordinates()

void CPose3DQuat::sphericalCoordinates	(	const mrpt::math::TPoint3D &	point,
		double &	out_range,
		double &	out_yaw,
		double &	out_pitch,
		mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *	out_jacob_dryp_dpoint = `nullptr`,
		mrpt::math::CMatrixFixedNumeric< 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 366 of file CPose3DQuat.cpp.

References inverseComposePoint(), local, mrpt::math::square(), THROW_EXCEPTION, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

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◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 179 of file CPoseOrPoint.h.

◆ swap()

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

inline

Definition at line 648 of file CPose3DQuat.h.

References m_coords, and m_quat.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

void CPose3DQuat::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 333 of file CPose3DQuat.cpp.

References m_coords, and m_quat.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose3DQuat >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

Referenced by CPose3DQuat().

◆ x() [2/3]

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

inlineinherited

Definition at line 144 of file CPoseOrPoint.h.

◆ x() [3/3]

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

inlineinherited

Parameters

v	Set X coord.

Definition at line 153 of file CPoseOrPoint.h.

◆ x_incr()

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

inlineinherited

Parameters

v X+=v

Definition at line 162 of file CPoseOrPoint.h.

◆ xyz() [1/2]

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

inline

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

Definition at line 64 of file CPose3DQuat.h.

References m_coords.

◆ xyz() [2/2]

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

inline

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

Definition at line 66 of file CPose3DQuat.h.

References m_coords.

◆ y() [1/3]

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

inlineinherited

< Get Y coord.

Definition at line 139 of file CPoseOrPoint.h.

Referenced by CPose3DQuat().

◆ y() [2/3]

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

inlineinherited

Definition at line 148 of file CPoseOrPoint.h.

◆ y() [3/3]

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

inlineinherited

Parameters

v	Set Y coord.

Definition at line 157 of file CPoseOrPoint.h.

◆ y_incr()

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

inlineinherited

Parameters

v Y+=v

Definition at line 166 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose3DQuat

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuat::_init_CPose3DQuat

staticprotected

Definition at line 50 of file CPose3DQuat.h.

◆ className

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

static

Definition at line 50 of file CPose3DQuat.h.

◆ m_coords

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

The translation vector [x,y,z].

Definition at line 54 of file CPose3DQuat.h.

Referenced by assign(), asString(), composeFrom(), composePoint(), CPose3DQuat(), fromString(), getAsVector(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), getHomogeneousMatrix(), inverse(), inverseComposeFrom(), inverseComposePoint(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionModel(), operator*=(), operator[](), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), setToNaN(), swap(), writeToStream(), and xyz().

◆ m_quat

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

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuat::runtimeClassId

staticprotected

Definition at line 50 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

◆ difference_type

◆ mrpt_autotype

◆ Ptr

◆ reference

◆ reverse_iterator

◆ size_type

◆ type_value

◆ value_type

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]

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ composeFrom()

◆ composePoint() [1/2]

◆ composePoint() [2/2]

◆ Create()

◆ CreateObject()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ fromString()

◆ fromStringRaw()

◆ getAsVector() [1/2]

◆ getAsVector() [2/2]

◆ getAsVectorVal()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ inverseComposeFrom()

◆ inverseComposePoint() [1/2]

◆ inverseComposePoint() [2/2]

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ max_size()

◆ norm()

◆ operator delete() [1/3]

◆ operator delete() [2/3]