Detailed Description

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

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

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

Note:: This class is based on the CRTP design pattern

See also:: CPoseOrPoint, CPoint

Definition at line 44 of file CPose.h.

#include <mrpt/poses/CPose.h>

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

[legend]

List of all members.

Public Member Functions
CPose3D	operator- (const CPose3D &b) const
	The operator $a \ominus b$ is the pose inverse compounding operator.
double	x () const
	Common members of all points & poses classes.
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)
template<class OTHERCLASS >
double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the squared euclidean distance to another pose/point:
template<class OTHERCLASS >
double	distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
	Returns the Euclidean distance to another pose/point:
double	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance to a 3D point:
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).
double	distance3DToSquare (double ax, double ay, double az) const
	Returns the squared 3D distance from this pose/point to a 3D point.
double	distance2DTo (double ax, double ay) const
	Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
double	distance3DTo (double ax, double ay, double az) const
	Returns the 3D distance from this pose/point to a 3D point.
double	norm () const
	Returns the euclidean norm of vector: $\|\|\mathbf{x}\|\| = \sqrt{x^2+y^2+z^2}$ .
vector_double	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
CMatrixDouble44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
void	getInverseHomogeneousMatrix (math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const
static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise.

Member Function Documentation

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo	(	double	ax,
		double	ay
	)		const `[inline, inherited]`

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

Definition at line 184 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare	(	double	ax,
		double	ay
	)		const `[inline, inherited]`

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

Definition at line 176 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const `[inline, inherited]`

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

Definition at line 187 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const `[inline, inherited]`

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

Definition at line 179 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

template<class OTHERCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const [inline, inherited]

Returns the Euclidean distance to another pose/point:

Definition at line 170 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const mrpt::math::TPoint3D & b ) const [inline, inherited]

Returns the euclidean distance to a 3D point:

Definition at line 190 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

vector_double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal ( ) const [inline, inherited]

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

Definition at line 199 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal ( ) const [inline, inherited]

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

See also:: getInverseHomogeneousMatrix

Reimplemented in mrpt::poses::CPose3D, and mrpt::poses::CPose3DRotVec.

Definition at line 209 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( math::CMatrixDouble44 & out_HM ) const [inline, inherited]

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

See also:: getHomogeneousMatrix

Definition at line 219 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPose< DERIVEDCLASS >::operator-().

template<class DERIVEDCLASS>

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix ( ) const [inline, inherited]

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 226 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint ( ) [inline, static, inherited]

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

Definition at line 149 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString(), and mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo().

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm ( ) const [inline, inherited]

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

Definition at line 193 of file CPoseOrPoint.h.

template<class DERIVEDCLASS >

CPose3D mrpt::poses::CPose< DERIVEDCLASS >::operator- ( const CPose3D & b ) const

The operator $a \ominus b$ is the pose inverse compounding operator.

Reimplemented in mrpt::poses::CPose3D.

Definition at line 508 of file CPose3D.h.

References mrpt::poses::CPose3D, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

template<class DERIVEDCLASS>

template<class OTHERCLASS >

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > & b ) const [inline, inherited]

Returns the squared euclidean distance to another pose/point:

Definition at line 152 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( const double v ) [inline, inherited]

Parameters:

v	Set X coord.

Definition at line 141 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) [inline, inherited]

Definition at line 138 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) const [inline, inherited]

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CPointsMap::insertPoint(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::slam::CPointsMap::setPoint(), mrpt::slam::CColouredPointsMap::setPoint(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().

template<class DERIVEDCLASS>

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr ( const double v ) [inline, inherited]

Parameters:

v X+=v

Definition at line 144 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) const [inline, inherited]

< Get Y coord.

Definition at line 136 of file CPoseOrPoint.h.

Referenced by mrpt::poses::CPoint< CPoint3D >::asString(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::poses::CPoint3D::CPoint3D(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CPoint< CPoint3D >::getHomogeneousMatrix(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CPointsMap::getPoint(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::slam::CPointsMap::insertPoint(), mrpt::slam::CColouredPointsMap::insertPoint(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::poses::operator<(), mrpt::slam::CPointsMap::setPoint(), mrpt::slam::CColouredPointsMap::setPoint(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().

template<class DERIVEDCLASS>

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( const double v ) [inline, inherited]

Parameters:

v	Set Y coord.

Definition at line 142 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

double& mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) [inline, inherited]

Definition at line 139 of file CPoseOrPoint.h.

template<class DERIVEDCLASS>

void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr ( const double v ) [inline, inherited]

Parameters:

v Y+=v

Definition at line 145 of file CPoseOrPoint.h.

Detailed Description

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

Public Member Functions

Member Function Documentation

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