Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Namespaces
	detail
	Internal, auxiliary templates for MRPT classes.

	internal

Classes
class	CPoint
	A base class for representing a point in 2D or 3D. More...

class	CPoint2D
	A class used to store a 2D point. More...

class	CPoint2DPDF
	Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...

class	CPoint2DPDFGaussian
	A gaussian distribution for 2D points. More...

class	CPoint3D
	A class used to store a 3D point. More...

class	CPointPDF
	Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...

class	CPointPDFGaussian
	A gaussian distribution for 3D points. More...

class	CPointPDFParticles
	A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...

class	CPointPDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 3D point $p(\mathbf{x}) = [x ~ y ~ z ]^t$ . More...

class	CPose
	A base class for representing a pose in 2D or 3D. More...

class	CPose2D
	A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle. More...

class	CPose2DGridTemplate
	This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...

class	CPose2DInterpolator
	This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). More...

class	CPose3D
	A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...

class	CPose3DInterpolator
	This class stores a time-stamped trajectory in SE(3) (CPose3D poses). More...

class	CPose3DPDF
	Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...

class	CPose3DPDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ . More...

class	CPose3DPDFGaussianInf
	Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ as a Gaussian described by its mean and its inverse covariance matrix. More...

class	CPose3DPDFParticles
	Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...

class	CPose3DPDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ . More...

class	CPose3DQuat
	A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...

class	CPose3DQuatPDF
	Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz]. More...

class	CPose3DQuatPDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top$ . More...

class	CPose3DQuatPDFGaussianInf
	Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top$ . More...

class	CPose3DRotVec
	A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle). More...

class	CPoseInterpolatorBase
	Base class for SE(2)/SE(3) interpolators. More...

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

class	CPosePDF
	Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...

class	CPosePDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ . More...

class	CPosePDFGaussianInf
	A Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ as a Gaussian with a mean and the inverse of the covariance. More...

class	CPosePDFGrid
	Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...

class	CPosePDFParticles
	Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...

class	CPosePDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ . More...

class	CPoseRandomSampler
	An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...

class	CPoses2DSequence
	This class stores a sequence of relative, incremental 2D poses. More...

class	CPoses3DSequence
	This class stores a sequence of relative, incremental 3D poses. More...

class	CRobot2DPoseEstimator
	A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data. More...

class	FrameTransformer
	See docs in FrameTransformerInterface. More...

class	FrameTransformerInterface
	Virtual base class for interfaces to a ROS tf2-like service capable of "publishing" and "looking-up" relative poses between two "coordinate frames". More...

class	SE_average
	Computes weighted and un-weighted averages of SE(2) or SE(3) poses. More...

class	SE_average< 2 >
	Computes weighted and un-weighted averages of SE(2) poses. More...

class	SE_average< 3 >
	Computes weighted and un-weighted averages of SE(3) poses. More...

struct	SE_traits
	A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc. More...

struct	SE_traits< 2 >
	Specialization of SE for 2D poses. More...

struct	SE_traits< 3 >
	Specialization of SE for 3D poses. More...

class	SO_average
	Computes weighted and un-weighted averages of SO(2) or SO(3) orientations. More...

class	SO_average< 2 >
	Computes weighted and un-weighted averages of SO(2) orientations. More...

class	SO_average< 3 >
	Computes weighted and un-weighted averages of SO(3) orientations. More...

Enumerations
enum	TInterpolatorMethod { imSpline = 0, imLinear2Neig, imLinear4Neig, imSSLLLL, imSSLSLL, imLinearSlerp, imSplineSlerp }
	Type to select the interpolation method in CPoseInterpolatorBase derived classes. More...

enum	TConstructorFlags_Poses { UNINITIALIZED_POSE = 0 }

enum	FrameLookUpStatus { LKUP_GOOD = 0, LKUP_UNKNOWN_FRAME, LKUP_NO_CONNECTIVITY, LKUP_EXTRAPOLATION_ERROR }

Functions
template<class DERIVEDCLASS >
std::ostream &	operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p)
	Dumps a point as a string [x,y] or [x,y,z] More...

template<class DERIVEDCLASS >
bool	operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b)
	Used by STL algorithms. More...

template<class DERIVEDCLASS >
bool	operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)

template<class DERIVEDCLASS >
bool	operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)

std::ostream &	operator<< (std::ostream &o, const CPose2D &p)
	Textual output stream function. More...

CPose2D	operator- (const CPose2D &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi) More...

mrpt::math::TPoint2D	operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
	Compose a 2D point from a new coordinate base given by a 2D pose. More...

bool	operator== (const CPose2D &p1, const CPose2D &p2)

bool	operator!= (const CPose2D &p1, const CPose2D &p2)

std::ostream &	operator<< (std::ostream &o, const CPose3D &p)
	Textual output stream function. More...

CPose3D	operator- (const CPose3D &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...

bool	operator== (const CPose3D &p1, const CPose3D &p2)

bool	operator!= (const CPose3D &p1, const CPose3D &p2)

CPose3DPDFGaussian	operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
	Pose composition for two 3D pose Gaussians. More...

CPose3DPDFGaussian	operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
	Pose composition for two 3D pose Gaussians. More...

std::ostream &	operator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream. More...

bool	operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)

bool	operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2)

CPose3DPDFGaussianInf	operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
	Pose composition for two 3D pose Gaussians. More...

CPose3DPDFGaussianInf	operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
	Pose composition for two 3D pose Gaussians. More...

std::ostream &	operator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj)
	Dumps the mean and covariance matrix to a text stream. More...

std::ostream &	operator<< (std::ostream &o, const CPose3DQuat &p)
	Textual output stream function. More...

CPose3DQuat	operator- (const CPose3DQuat &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1") More...

CPoint3D	operator- (const CPoint3D &G, const CPose3DQuat &p)
	Computes the 3D point L such as $L = G \ominus this$ . More...

mrpt::math::TPoint3D	operator- (const mrpt::math::TPoint3D &G, const CPose3DQuat &p)
	Computes the 3D point L such as $L = G \ominus this$ . More...

bool	operator== (const CPose3DQuat &p1, const CPose3DQuat &p2)

bool	operator!= (const CPose3DQuat &p1, const CPose3DQuat &p2)

bool	operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)

CPose3DQuatPDFGaussian	operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
	Pose composition for two 3D pose Gaussians. More...

CPose3DQuatPDFGaussian	operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
	Inverse pose composition for two 3D pose Gaussians. More...

std::ostream &	operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream. More...

bool	operator== (const CPose3DQuatPDFGaussianInf &p1, const CPose3DQuatPDFGaussianInf &p2)

CPose3DQuatPDFGaussianInf	operator+ (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
	Pose composition for two 3D pose Gaussians. More...

CPose3DQuatPDFGaussianInf	operator- (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
	Inverse pose composition for two 3D pose Gaussians. More...

std::ostream &	operator<< (std::ostream &out, const CPose3DQuatPDFGaussianInf &obj)
	Dumps the mean and covariance matrix to a text stream. More...

std::ostream &	operator<< (std::ostream &o, const CPose3DRotVec &p)
	Textual output stream function. More...

CPose3DRotVec	operator- (const CPose3DRotVec &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...

bool	operator== (const CPose3DRotVec &p1, const CPose3DRotVec &p2)

bool	operator!= (const CPose3DRotVec &p1, const CPose3DRotVec &p2)

CPosePDFGaussian	operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
	Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...

CPosePDFGaussian	operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
	Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...

std::ostream &	operator<< (std::ostream &out, const CPosePDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream. More...

poses::CPosePDFGaussian	operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
	Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ . More...

bool	operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)

bool	operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2)

CPosePDFGaussianInf	operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
	Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...

CPosePDFGaussianInf	operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
	Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...

poses::CPosePDFGaussianInf	operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B)
	Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ . More...

std::ostream &	operator<< (std::ostream &out, const CPosePDFGaussianInf &obj)
	Dumps the mean and covariance matrix to a text stream. More...

template<class VEC3 , class MAT33 >
void	deltaR (const MAT33 &R, VEC3 &v)

template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >
void	M3x9 (const VEC3 &a, const MAT3x3 &B, MAT3x9 &RES)

CMatrixDouble33	ddeltaRt_dR (const CPose3D &P)

void	dVinvt_dR (const CPose3D &P, CMatrixFixedNumeric< double, 3, 9 > &J)

Enumeration Type Documentation

◆ FrameLookUpStatus

enum mrpt::poses::FrameLookUpStatus

Enumerator
LKUP_GOOD
LKUP_UNKNOWN_FRAME
LKUP_NO_CONNECTIVITY
LKUP_EXTRAPOLATION_ERROR

Definition at line 21 of file FrameTransformer.h.

◆ TConstructorFlags_Poses

enum mrpt::poses::TConstructorFlags_Poses

Enumerator
UNINITIALIZED_POSE

Definition at line 34 of file CPoseOrPoint.h.

Function Documentation

◆ ddeltaRt_dR()

CMatrixDouble33 mrpt::poses::ddeltaRt_dR ( const CPose3D & P )

inline

Definition at line 832 of file CPose3D.cpp.

References deltaR(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::poses::CPose3D::m_coords, MRPT_MAX_ALIGN_BYTES, and R.

Referenced by dVinvt_dR().

◆ deltaR()

template<class VEC3 , class MAT33 >

void mrpt::poses::deltaR	(	const MAT33 &	R,
		VEC3 &	v
	)

inline

Definition at line 814 of file CPose3D.cpp.

References R.

Referenced by ddeltaRt_dR(), dVinvt_dR(), mrpt::poses::CPose3D::ln_jacob(), and mrpt::poses::CPose3D::ln_rot_jacob().

◆ dVinvt_dR()

void mrpt::poses::dVinvt_dR	(	const CPose3D &	P,
		CMatrixFixedNumeric< double, 3, 9 > &	J
	)

inline

Definition at line 852 of file CPose3D.cpp.

References ddeltaRt_dR(), deltaR(), mrpt::poses::CPose3D::getRotationMatrix(), M3x9(), mrpt::poses::CPose3D::m_coords, R, mrpt::math::skew_symmetric3(), mrpt::square(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::poses::CPose3D::ln_jacob().

◆ M3x9()

template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >

void mrpt::poses::M3x9	(	const VEC3 &	a,
		const MAT3x3 &	B,
		MAT3x9 &	RES
	)

inline

Definition at line 822 of file CPose3D.cpp.

References MRPT_MAX_ALIGN_BYTES.

Referenced by dVinvt_dR(), and mrpt::poses::CPose3D::ln_rot_jacob().

◆ operator!=() [1/5]

template<class DERIVEDCLASS >

bool mrpt::poses::operator!=	(	const CPoint< DERIVEDCLASS > &	p1,
		const CPoint< DERIVEDCLASS > &	p2
	)

Definition at line 174 of file CPoint.h.

References static_size.

◆ operator!=() [2/5]

bool mrpt::poses::operator!=	(	const CPose2D &	p1,
		const CPose2D &	p2
	)

Definition at line 359 of file CPose2D.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ operator!=() [3/5]

bool mrpt::poses::operator!=	(	const CPose3D &	p1,
		const CPose3D &	p2
	)

Definition at line 528 of file CPose3D.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), and mrpt::poses::CPose3D::m_coords.

◆ operator!=() [4/5]

bool mrpt::poses::operator!=	(	const CPose3DQuat &	p1,
		const CPose3DQuat &	p2
	)

Definition at line 483 of file CPose3DQuat.cpp.

◆ operator!=() [5/5]

bool mrpt::poses::operator!=	(	const CPose3DRotVec &	p1,
		const CPose3DRotVec &	p2
	)

Definition at line 215 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3DRotVec::m_coords, and mrpt::poses::CPose3DRotVec::m_rotvec.

◆ operator+() [1/9]

TPoint2D mrpt::poses::operator+	(	const CPose2D &	pose,
		const mrpt::math::TPoint2D &	pnt
	)

Compose a 2D point from a new coordinate base given by a 2D pose.

Definition at line 364 of file CPose2D.cpp.

References mrpt::poses::CPose2D::phi_cos(), mrpt::poses::CPose2D::phi_sin(), mrpt::math::TPoint2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint2D::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ operator+() [2/9]

CPose3DPDFGaussian mrpt::poses::operator+	(	const CPose3DPDFGaussian &	x,
		const CPose3DPDFGaussian &	u
	)

inline

Pose composition for two 3D pose Gaussians.

See also: CPose3DPDFGaussian::operator +=

Definition at line 213 of file CPose3DPDFGaussian.h.

◆ operator+() [3/9]

CPose3DPDFGaussianInf mrpt::poses::operator+	(	const CPose3DPDFGaussianInf &	x,
		const CPose3DPDFGaussianInf &	u
	)

Pose composition for two 3D pose Gaussians.

See also: CPose3DPDFGaussian::operator +=

Definition at line 419 of file CPose3DPDFGaussianInf.cpp.

◆ operator+() [4/9]

CPose3DQuatPDFGaussian mrpt::poses::operator+	(	const CPose3DQuatPDFGaussian &	x,
		const CPose3DQuatPDFGaussian &	u
	)

Pose composition for two 3D pose Gaussians.

See also: CPose3DQuatPDFGaussian::operator +=

Definition at line 441 of file CPose3DQuatPDFGaussian.cpp.

◆ operator+() [5/9]

CPose3DQuatPDFGaussianInf mrpt::poses::operator+	(	const CPose3DQuatPDFGaussianInf &	x,
		const CPose3DQuatPDFGaussianInf &	u
	)

Pose composition for two 3D pose Gaussians.

See also: CPose3DQuatPDFGaussianInf::operator +=

Definition at line 345 of file CPose3DQuatPDFGaussianInf.cpp.

◆ operator+() [6/9]

CPosePDFGaussian mrpt::poses::operator+	(	const CPosePDFGaussian &	a,
		const CPosePDFGaussian &	b
	)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 553 of file CPosePDFGaussian.cpp.

◆ operator+() [7/9]

CPosePDFGaussianInf mrpt::poses::operator+	(	const CPosePDFGaussianInf &	a,
		const CPosePDFGaussianInf &	b
	)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 517 of file CPosePDFGaussianInf.cpp.

◆ operator+() [8/9]

poses::CPosePDFGaussian mrpt::poses::operator+	(	const mrpt::poses::CPose2D &	A,
		const mrpt::poses::CPosePDFGaussian &	B
	)

Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .

Definition at line 386 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::changeCoordinatesReference().

◆ operator+() [9/9]

poses::CPosePDFGaussianInf mrpt::poses::operator+	(	const mrpt::poses::CPose2D &	A,
		const mrpt::poses::CPosePDFGaussianInf &	B
	)

Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .

Definition at line 420 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference().

◆ operator-() [1/12]

CPoint3D mrpt::poses::operator-	(	const CPoint3D &	G,
		const CPose3DQuat &	p
	)

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

See also: inverseComposePoint

Definition at line 488 of file CPose3DQuat.cpp.

References G.

◆ operator-() [2/12]

CPose2D mrpt::poses::operator- ( const CPose2D & p )

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)

See also: CPose2D::inverse()

Definition at line 315 of file CPose2D.cpp.

References mrpt::poses::CPose2D::inverse().

◆ operator-() [3/12]

CPose3D mrpt::poses::operator- ( const CPose3D & p )

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 503 of file CPose3D.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [4/12]

CPose3DPDFGaussian mrpt::poses::operator-	(	const CPose3DPDFGaussian &	x,
		const CPose3DPDFGaussian &	u
	)

inline

Pose composition for two 3D pose Gaussians.

See also: CPose3DPDFGaussian::operator -=

Definition at line 223 of file CPose3DPDFGaussian.h.

◆ operator-() [5/12]

CPose3DPDFGaussianInf mrpt::poses::operator-	(	const CPose3DPDFGaussianInf &	x,
		const CPose3DPDFGaussianInf &	u
	)

Pose composition for two 3D pose Gaussians.

See also: CPose3DPDFGaussianInf::operator -=

Definition at line 427 of file CPose3DPDFGaussianInf.cpp.

◆ operator-() [6/12]

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

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1")

Definition at line 448 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::inverse().

◆ operator-() [7/12]

CPose3DQuatPDFGaussian mrpt::poses::operator-	(	const CPose3DQuatPDFGaussian &	x,
		const CPose3DQuatPDFGaussian &	u
	)

Inverse pose composition for two 3D pose Gaussians.

See also: CPose3DQuatPDFGaussian::operator -=

Definition at line 449 of file CPose3DQuatPDFGaussian.cpp.

◆ operator-() [8/12]

CPose3DQuatPDFGaussianInf mrpt::poses::operator-	(	const CPose3DQuatPDFGaussianInf &	x,
		const CPose3DQuatPDFGaussianInf &	u
	)

Inverse pose composition for two 3D pose Gaussians.

See also: CPose3DQuatPDFGaussianInf::operator -=

Definition at line 355 of file CPose3DQuatPDFGaussianInf.cpp.

◆ operator-() [9/12]

CPose3DRotVec mrpt::poses::operator- ( const CPose3DRotVec & p )

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 203 of file CPose3DRotVec.cpp.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-() [10/12]

CPosePDFGaussian mrpt::poses::operator-	(	const CPosePDFGaussian &	a,
		const CPosePDFGaussian &	b
	)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 561 of file CPosePDFGaussian.cpp.

◆ operator-() [11/12]

CPosePDFGaussianInf mrpt::poses::operator-	(	const CPosePDFGaussianInf &	a,
		const CPosePDFGaussianInf &	b
	)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 527 of file CPosePDFGaussianInf.cpp.

◆ operator-() [12/12]

TPoint3D mrpt::poses::operator-	(	const mrpt::math::TPoint3D &	G,
		const CPose3DQuat &	p
	)

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

See also: inverseComposePoint

Definition at line 495 of file CPose3DQuat.cpp.

References G.

◆ operator<()

template<class DERIVEDCLASS >

bool mrpt::poses::operator<	(	const CPoint< DERIVEDCLASS > &	a,
		const CPoint< DERIVEDCLASS > &	b
	)

Used by STL algorithms.

Definition at line 150 of file CPoint.h.

◆ operator<<() [1/11]

template<class DERIVEDCLASS >

std::ostream& mrpt::poses::operator<<	(	std::ostream &	o,
		const CPoint< DERIVEDCLASS > &	p
	)

Dumps a point as a string [x,y] or [x,y,z]

Definition at line 140 of file CPoint.h.

◆ operator<<() [2/11]

std::ostream & mrpt::poses::operator<<	(	std::ostream &	o,
		const CPose2D &	p
	)

Textual output stream function.

Definition at line 89 of file CPose2D.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

◆ operator<<() [3/11]

std::ostream & mrpt::poses::operator<<	(	std::ostream &	o,
		const CPose3D &	p
	)

Textual output stream function.

Definition at line 197 of file CPose3D.cpp.

References mrpt::RAD2DEG().

◆ operator<<() [4/11]

std::ostream & mrpt::poses::operator<<	(	std::ostream &	o,
		const CPose3DQuat &	p
	)

Textual output stream function.

Definition at line 433 of file CPose3DQuat.cpp.

◆ operator<<() [5/11]

std::ostream & mrpt::poses::operator<<	(	std::ostream &	o,
		const CPose3DRotVec &	p
	)

Textual output stream function.

Definition at line 114 of file CPose3DRotVec.cpp.