Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes
mrpt::math::TTwist3D Struct Reference

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 2233 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

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 fast constructor. More...
 
double & operator[] (size_t i)
 Coordinate access using operator[]. More...
 
constexpr const double & operator[] (size_t i) const
 Coordinate access using operator[]. More...
 
void getAsVector (std::vector< double > &v) const
 Transformation into vector. 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...
 

Static Public Member Functions

static size_t size ()
 

Public Attributes

double vx
 Velocity components: X,Y (m/s) More...
 
double vy
 
double vz
 
double wx
 Angular velocity (rad/s) More...
 
double wy
 
double wz
 

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 2235 of file lightweight_geom_data.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 2245 of file lightweight_geom_data.h.

◆ TTwist3D() [2/2]

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

Default fast constructor.

Initializes to garbage

Definition at line 2251 of file lightweight_geom_data.h.

Member Function Documentation

◆ asString() [1/2]

void mrpt::math::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 135 of file lightweight_geom_data.cpp.

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

◆ asString() [2/2]

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

Definition at line 2307 of file lightweight_geom_data.h.

◆ fromString()

void mrpt::math::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::exceptionOn invalid format

Definition at line 141 of file lightweight_geom_data.cpp.

References ASSERTMSG_, mrpt::DEG2RAD(), and THROW_EXCEPTION.

◆ getAsVector()

void mrpt::math::TTwist3D::getAsVector ( std::vector< double > &  v) const
inline

Transformation into vector.

Definition at line 2295 of file lightweight_geom_data.h.

◆ operator!=()

bool mrpt::math::TTwist3D::operator!= ( const TTwist3D o) const

Definition at line 173 of file lightweight_geom_data.cpp.

◆ operator==()

bool mrpt::math::TTwist3D::operator== ( const TTwist3D o) const

Definition at line 168 of file lightweight_geom_data.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,vphi

Definition at line 2253 of file lightweight_geom_data.h.

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

◆ operator[]() [2/2]

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

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 2274 of file lightweight_geom_data.h.

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

◆ rotate()

void mrpt::math::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 155 of file lightweight_geom_data.cpp.

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

◆ size()

static size_t mrpt::math::TTwist3D::size ( )
inlinestatic

Definition at line 2325 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator<<(), and mrpt::math::operator>>().

Member Data Documentation

◆ vx

double mrpt::math::TTwist3D::vx

Velocity components: X,Y (m/s)

Definition at line 2240 of file lightweight_geom_data.h.

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

◆ vy

double mrpt::math::TTwist3D::vy

Definition at line 2240 of file lightweight_geom_data.h.

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

◆ vz

double mrpt::math::TTwist3D::vz

Definition at line 2240 of file lightweight_geom_data.h.

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

◆ wx

double mrpt::math::TTwist3D::wx

Angular velocity (rad/s)

Definition at line 2242 of file lightweight_geom_data.h.

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

◆ wy

double mrpt::math::TTwist3D::wy

Definition at line 2242 of file lightweight_geom_data.h.

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

◆ wz

double mrpt::math::TTwist3D::wz

Definition at line 2242 of file lightweight_geom_data.h.

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




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at lun oct 28 00:14:14 CET 2019