Detailed Description

template<class DERIVEDCLASS>
class mrpt::poses::CPoseOrPoint< DERIVEDCLASS >

The base template class for 2D & 3D points and poses.

This class use the Curiously Recurring Template Pattern (CRTP) to define a set of common methods to all the children classes without the cost of virtual methods. Since most important methods are inline, they will be expanded at compile time and optimized for every specific derived case.

For more information and examples, refer to the 2D/3D Geometry tutorial online.

Introduction to 2D and 3D representation classes

There are two class of spatial representation classes:

Point: A point in the common mathematical sense, with no directional information.
- 2D: A 2D point is represented just by its coordinates (x,y).
- 3D: A 3D point is represented by its coordinates (x,y,z).
Pose: It is a point, plus a direction.
- 2D: A 2D pose is a 2D point plus a single angle, the yaw or φ angle: the angle from the positive X angle.
- 3D: A 3D point is a 3D point plus three orientation angles (More details above).
In the case for a 3D orientation many representation angles can be used (Euler angles,yaw/pitch/roll,...) but all of them can be handled by a 4x4 matrix called "Homogeneous Matrix". This matrix includes both, the translation and the orientation for a point or a pose, and it can be obtained using the method getHomogeneousMatrix() which is defined for any pose or point. Note that when the YPR angles are used to define a 3D orientation, these three values can not be extracted from the matrix again.

Homogeneous matrices: These are 4x4 matrices which can represent any translation or rotation in 2D & 3D. See the tutorial online for more details. *

Operators: There are operators defined for the pose compounding $\oplus$ and inverse pose compounding $\ominus$ of poses and points. For example, let "a" and "b" be 2D or 3D poses. Then "a+b" returns the resulting pose of "moving b" from "a"; and "b-a" returns the pose of "b" as it is seen "from a". They can be mixed points and poses, being 2D or 3D, in these operators, with the following results:

 Does "a+b" return a Pose or a Point?
+---------------------------------+
|  a \ b   |  Pose     |  Point   |
+----------+-----------+----------+
| Pose     |  Pose     |  Point   |
| Point    |  Pose     |  Point   |
+---------------------------------+

 Does "a-b" return a Pose or a Point?
+---------------------------------+
|  a \ b   |  Pose     |  Point   |
+----------+-----------+----------+
| Pose     |  Pose     |  Pose    |
| Point    |  Point    |  Point   |
+---------------------------------+

 Does "a+b" and "a-b" return a 2D or 3D object?
+-------------------------+
|  a \ b   |  2D   |  3D  |
+----------+--------------+
|  2D      |  2D   |  3D  |
|  3D      |  3D   |  3D  |
+-------------------------+

See also: CPose,CPoint

Definition at line 125 of file CPoseOrPoint.h.

#include <mrpt/poses/CPoseOrPoint.h>

Inheritance diagram for mrpt::poses::CPoseOrPoint< DERIVEDCLASS >:

Public Member Functions
const DERIVEDCLASS &	derived () const

DERIVEDCLASS &	derived ()

double	x () const
	Common members of all points & poses classes. More...

double	y () const

double &	x ()

double &	y ()

void	x (const double v)

void	y (const double v)

void	x_incr (const double v)

void	y_incr (const double v)

template<class OTHERCLASS >
double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point: More...

template<class OTHERCLASS >
double	distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the Euclidean distance to another pose/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	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance 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...

template<class MATRIX44 >
MATRIX44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

template<class MATRIX44 >
void	getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

template<class MATRIX44 >
MATRIX44	getInverseHomogeneousMatrixVal () const

virtual void	setToNaN ()=0
	Set all data fields to quiet NaN. More...

static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise. More...

Member Function Documentation

◆ derived() [1/2]

template<class DERIVEDCLASS>

const DERIVEDCLASS& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived ( ) const

inline

Definition at line 131 of file CPoseOrPoint.h.

◆ derived() [2/2]

template<class DERIVEDCLASS>

DERIVEDCLASS& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::derived ( )

inline

Definition at line 135 of file CPoseOrPoint.h.

◆ distance2DTo()

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo	(	double	ax,
		double	ay
	)		const

inline

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

Definition at line 234 of file CPoseOrPoint.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

◆ distance2DToSquare()

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare	(	double	ax,
		double	ay
	)		const

inline

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

Definition at line 218 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DTo().

◆ distance3DTo()

template<class DERIVEDCLASS>

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

inline

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

Definition at line 240 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ distance3DToSquare()

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const

inline

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

Definition at line 225 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DTo().

◆ distanceTo() [1/2]

template<class DERIVEDCLASS>

template<class OTHERCLASS >

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

inline

Returns the Euclidean distance to another pose/point:

Definition at line 211 of file CPoseOrPoint.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), ransac_data_assoc_run(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood(), mrpt::maps::CBeaconMap::simulateBeaconReadings(), and mrpt::maps::CLandmarksMap::simulateBeaconReadings().

◆ distanceTo() [2/2]

template<class DERIVEDCLASS>

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

inline

Returns the euclidean distance to a 3D point:

Definition at line 246 of file CPoseOrPoint.h.

◆ getAsVectorVal()

template<class DERIVEDCLASS>

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

inline

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

Definition at line 263 of file CPoseOrPoint.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), Pose3DQuatTests::test_compose(), Pose3DTests::test_compose(), Pose3DRotVecTests::test_compose(), Pose3DTests::test_composeFrom(), Pose3DQuatTests::test_composePoint(), Pose3DTests::test_composePoint(), Pose3DRotVecTests::test_conversions(), Pose3DTests::test_ExpLnEqual(), TEST_F(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DQuatTests::test_invComposePoint(), Pose3DTests::test_inverse(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ getHomogeneousMatrixVal()

template<class DERIVEDCLASS>

template<class MATRIX44 >

MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal ( ) const

inline

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

See also: getInverseHomogeneousMatrix

Definition at line 275 of file CPoseOrPoint.h.

Referenced by mrpt::obs::CObservation3DRangeScan::getDescriptionAsText(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), Pose3DTests::test_compose(), Pose3DRotVecTests::test_compose(), Pose3DQuatTests::test_copy(), Pose3DQuatTests::test_fromYPRAndBack(), Pose3DTests::test_inverse(), and Pose3DQuatTests::test_unaryInverse().

◆ getInverseHomogeneousMatrix()

template<class DERIVEDCLASS>

template<class MATRIX44 >

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( MATRIX44 & out_HM ) const

inline

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

See also: getHomogeneousMatrix

Definition at line 287 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrixVal(), mrpt::poses::CPose3DRotVec::inverseComposeFrom(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and Pose3DTests::test_inverse().

◆ getInverseHomogeneousMatrixVal()

template<class DERIVEDCLASS>

template<class MATRIX44 >

MATRIX44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrixVal ( ) 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 295 of file CPoseOrPoint.h.

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS>

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

inlinestatic

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

Definition at line 177 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare(), mrpt::poses::CPoseOrPoint< CPoint3D >::norm(), and mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo().

◆ norm()

template<class DERIVEDCLASS>

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

inline

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

Definition at line 253 of file CPoseOrPoint.h.

Referenced by mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::TDist::updateDistances().

◆ setToNaN()

template<class DERIVEDCLASS>

virtual void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::setToNaN ( )

pure virtual

Set all data fields to quiet NaN.

Implemented in mrpt::poses::CPose3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::poses::CPose2D, mrpt::poses::CPoint3D, and mrpt::poses::CPoint2D.

◆ sqrDistanceTo()

template<class DERIVEDCLASS>

template<class OTHERCLASS >

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

inline

Returns the squared euclidean distance to another pose/point:

Definition at line 184 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::distanceTo().

◆ x() [1/3]

template<class DERIVEDCLASS>

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

inline

Common members of all points & poses classes.

< Get X coord.

Definition at line 140 of file CPoseOrPoint.h.

◆ x() [2/3]

template<class DERIVEDCLASS>

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

inline

Definition at line 149 of file CPoseOrPoint.h.

◆ x() [3/3]

template<class DERIVEDCLASS>

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

inline

Parameters

v	Set X coord.

Definition at line 158 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS>

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

inline

Parameters

v X+=v

Definition at line 167 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CBeaconMap::internal_insertObservation(), and TEST().

◆ y() [1/3]

template<class DERIVEDCLASS>

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

inline

< Get Y coord.

Definition at line 144 of file CPoseOrPoint.h.

◆ y() [2/3]

template<class DERIVEDCLASS>

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

inline

Definition at line 153 of file CPoseOrPoint.h.

◆ y() [3/3]

template<class DERIVEDCLASS>

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

inline

Parameters

v	Set Y coord.

Definition at line 162 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS>

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

inline

Parameters

v Y+=v

Definition at line 171 of file CPoseOrPoint.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::maps::CBeaconMap::internal_insertObservation().

Detailed Description

template<class DERIVEDCLASS> class mrpt::poses::CPoseOrPoint< DERIVEDCLASS >

Introduction to 2D and 3D representation classes

Public Member Functions

Member Function Documentation

◆ derived() [1/2]

◆ derived() [2/2]

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ getAsVectorVal()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ is3DPoseOrPoint()

◆ norm()

◆ setToNaN()

◆ sqrDistanceTo()

◆ x() [1/3]

◆ x() [2/3]

◆ x() [3/3]

◆ x_incr()

◆ y() [1/3]

◆ y() [2/3]

◆ y() [3/3]

◆ y_incr()

template<class DERIVEDCLASS>
class mrpt::poses::CPoseOrPoint< DERIVEDCLASS >