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2D/3D points and poses

Detailed Description

Collaboration diagram for 2D/3D points and poses:

Classes

class  mrpt::poses::CPoint< DERIVEDCLASS >
 A base class for representing a point in 2D or 3D. More...
 
class  mrpt::poses::CPoint2D
 A class used to store a 2D point. More...
 
class  mrpt::poses::CPoint3D
 A class used to store a 3D point. More...
 
class  mrpt::poses::CPose< DERIVEDCLASS >
 A base class for representing a pose in 2D or 3D. More...
 
class  mrpt::poses::CPose2D
 A class used to store a 2D pose. More...
 
class  mrpt::poses::CPose3D
 A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
 
class  mrpt::poses::CPose3DInterpolator
 A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set of given time-referenced poses. More...
 
struct  mrpt::poses::CPose3DQuat::iterator
 
struct  mrpt::poses::CPose3DQuat::const_iterator
 
class  mrpt::poses::CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
 
class  mrpt::poses::CPose3DRotVec
 A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle). More...
 
class  mrpt::poses::CPoseOrPoint< DERIVEDCLASS >
 The base template class for 2D & 3D points and poses. More...
 
class  mrpt::poses::CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
 
class  mrpt::poses::CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
 
struct  mrpt::poses::CRobot2DPoseEstimator::TOptions
 
class  mrpt::poses::CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data. More...
 
struct  mrpt::poses::SE_traits< 3 >
 Specialization of SE for 3D poses. More...
 
struct  mrpt::poses::SE_traits< 2 >
 Specialization of SE for 2D poses. More...
 
class  mrpt::poses::SO_average< 2 >
 Computes weighted and un-weighted averages of SO(2) orientations. More...
 
class  mrpt::poses::SO_average< 3 >
 Computes weighted and un-weighted averages of SO(3) orientations. More...
 
class  mrpt::poses::SE_average< 2 >
 Computes weighted and un-weighted averages of SE(2) poses. More...
 
class  mrpt::poses::SE_average< 3 >
 Computes weighted and un-weighted averages of SE(3) poses. More...
 

Namespaces

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

Enumerations

enum  { mrpt::poses::CPoint2D::is_3D_val = 0 }
 
enum  { mrpt::poses::CPoint2D::is_PDF_val = 0 }
 
enum  { mrpt::poses::CPoint3D::is_3D_val = 1 }
 
enum  { mrpt::poses::CPoint3D::is_PDF_val = 0 }
 
enum  { mrpt::poses::CPose2D::is_3D_val = 0 }
 
enum  { mrpt::poses::CPose2D::rotation_dimensions = 2 }
 
enum  { mrpt::poses::CPose2D::is_PDF_val = 0 }
 
enum  { mrpt::poses::CPose3D::is_3D_val = 1 }
 
enum  { mrpt::poses::CPose3D::rotation_dimensions = 3 }
 
enum  { mrpt::poses::CPose3D::is_PDF_val = 0 }
 
enum  mrpt::poses::CPose3DInterpolator::TInterpolatorMethod {
  mrpt::poses::CPose3DInterpolator::imSpline = 0, mrpt::poses::CPose3DInterpolator::imLinear2Neig, mrpt::poses::CPose3DInterpolator::imLinear4Neig, mrpt::poses::CPose3DInterpolator::imSSLLLL,
  mrpt::poses::CPose3DInterpolator::imSSLSLL, mrpt::poses::CPose3DInterpolator::imLinearSlerp, mrpt::poses::CPose3DInterpolator::imSplineSlerp
}
 Type to select the interpolation method in CPose3DInterpolator::setInterpolationMethod. More...
 
enum  { mrpt::poses::CPose3DQuat::is_3D_val = 1 }
 
enum  { mrpt::poses::CPose3DQuat::rotation_dimensions = 3 }
 
enum  { mrpt::poses::CPose3DQuat::is_PDF_val = 1 }
 
enum  { mrpt::poses::CPose3DRotVec::is_3D_val = 1 }
 
enum  { mrpt::poses::CPose3DRotVec::rotation_dimensions = 3 }
 
enum  { mrpt::poses::CPose3DRotVec::is_PDF_val = 0 }
 
enum  { mrpt::poses::SE_traits< 3 >::VECTOR_SIZE = 6 }
 
enum  { mrpt::poses::SE_traits< 2 >::VECTOR_SIZE = 3 }
 

Variables

template<size_t DOF>
struct BASE_IMPEXP mrpt::poses::SE_traits
 A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc. More...
 
template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SO_average
 Computes weighted and un-weighted averages of SO(2) or SO(3) orientations. More...
 
template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SE_average
 Computes weighted and un-weighted averages of SE(2) or SE(3) poses. More...
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPoint2D::static_size = 2 }
 
typedef double mrpt::poses::CPoint2D::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPoint2D::reference
 
typedef const double & mrpt::poses::CPoint2D::const_reference
 
typedef std::size_t mrpt::poses::CPoint2D::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPoint2D::difference_type
 
static size_type mrpt::poses::CPoint2D::size ()
 
static bool mrpt::poses::CPoint2D::empty ()
 
static size_type mrpt::poses::CPoint2D::max_size ()
 
static void mrpt::poses::CPoint2D::resize (const size_t n)
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPoint3D::static_size = 3 }
 
typedef double mrpt::poses::CPoint3D::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPoint3D::reference
 
typedef const double & mrpt::poses::CPoint3D::const_reference
 
typedef std::size_t mrpt::poses::CPoint3D::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPoint3D::difference_type
 
static size_type mrpt::poses::CPoint3D::size ()
 
static bool mrpt::poses::CPoint3D::empty ()
 
static size_type mrpt::poses::CPoint3D::max_size ()
 
static void mrpt::poses::CPoint3D::resize (const size_t n)
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPose2D::static_size = 3 }
 
typedef double mrpt::poses::CPose2D::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPose2D::reference
 
typedef const double & mrpt::poses::CPose2D::const_reference
 
typedef std::size_t mrpt::poses::CPose2D::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPose2D::difference_type
 
static size_type mrpt::poses::CPose2D::size ()
 
static bool mrpt::poses::CPose2D::empty ()
 
static size_type mrpt::poses::CPose2D::max_size ()
 
static void mrpt::poses::CPose2D::resize (const size_t n)
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPose3D::static_size = 6 }
 
typedef double mrpt::poses::CPose3D::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPose3D::reference
 
typedef const double & mrpt::poses::CPose3D::const_reference
 
typedef std::size_t mrpt::poses::CPose3D::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPose3D::difference_type
 
static size_type mrpt::poses::CPose3D::size ()
 
static bool mrpt::poses::CPose3D::empty ()
 
static size_type mrpt::poses::CPose3D::max_size ()
 
static void mrpt::poses::CPose3D::resize (const size_t n)
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPose3DQuat::static_size = 7 }
 
typedef double mrpt::poses::CPose3DQuat::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPose3DQuat::reference
 
typedef const double & mrpt::poses::CPose3DQuat::const_reference
 
typedef std::size_t mrpt::poses::CPose3DQuat::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPose3DQuat::difference_type
 
typedef std::reverse_iterator< iteratormrpt::poses::CPose3DQuat::reverse_iterator
 
typedef std::reverse_iterator< const_iteratormrpt::poses::CPose3DQuat::const_reverse_iterator
 
void mrpt::poses::CPose3DQuat::assign (const size_t N, const double val)
 
iterator mrpt::poses::CPose3DQuat::begin ()
 
iterator mrpt::poses::CPose3DQuat::end ()
 
const_iterator mrpt::poses::CPose3DQuat::begin () const
 
const_iterator mrpt::poses::CPose3DQuat::end () const
 
reverse_iterator mrpt::poses::CPose3DQuat::rbegin ()
 
const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin () const
 
reverse_iterator mrpt::poses::CPose3DQuat::rend ()
 
const_reverse_iterator mrpt::poses::CPose3DQuat::rend () const
 
void mrpt::poses::CPose3DQuat::swap (CPose3DQuat &o)
 
static size_type mrpt::poses::CPose3DQuat::size ()
 
static bool mrpt::poses::CPose3DQuat::empty ()
 
static size_type mrpt::poses::CPose3DQuat::max_size ()
 
static void mrpt::poses::CPose3DQuat::resize (const size_t n)
 

STL-like methods and typedefs

 
enum  { mrpt::poses::CPose3DRotVec::static_size = 6 }
 
typedef double mrpt::poses::CPose3DRotVec::value_type
 The type of the elements. More...
 
typedef double & mrpt::poses::CPose3DRotVec::reference
 
typedef const double & mrpt::poses::CPose3DRotVec::const_reference
 
typedef std::size_t mrpt::poses::CPose3DRotVec::size_type
 
typedef std::ptrdiff_t mrpt::poses::CPose3DRotVec::difference_type
 
static size_type mrpt::poses::CPose3DRotVec::size ()
 
static bool mrpt::poses::CPose3DRotVec::empty ()
 
static size_type mrpt::poses::CPose3DRotVec::max_size ()
 
static void mrpt::poses::CPose3DRotVec::resize (const size_t n)
 

Typedef Documentation

Definition at line 76 of file CPoint2D.h.

Definition at line 82 of file CPoint3D.h.

Definition at line 238 of file CPose2D.h.

Definition at line 258 of file CPose3DQuat.h.

Definition at line 394 of file CPose3DRotVec.h.

Definition at line 523 of file CPose3D.h.

Definition at line 411 of file CPose3DQuat.h.

Definition at line 78 of file CPoint2D.h.

Definition at line 84 of file CPoint3D.h.

typedef std::ptrdiff_t mrpt::poses::CPose2D::difference_type

Definition at line 240 of file CPose2D.h.

Definition at line 260 of file CPose3DQuat.h.

Definition at line 396 of file CPose3DRotVec.h.

typedef std::ptrdiff_t mrpt::poses::CPose3D::difference_type

Definition at line 525 of file CPose3D.h.

Definition at line 75 of file CPoint2D.h.

Definition at line 81 of file CPoint3D.h.

Definition at line 237 of file CPose2D.h.

Definition at line 257 of file CPose3DQuat.h.

Definition at line 393 of file CPose3DRotVec.h.

Definition at line 522 of file CPose3D.h.

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

Definition at line 410 of file CPose3DQuat.h.

typedef std::size_t mrpt::poses::CPoint2D::size_type

Definition at line 77 of file CPoint2D.h.

typedef std::size_t mrpt::poses::CPoint3D::size_type

Definition at line 83 of file CPoint3D.h.

typedef std::size_t mrpt::poses::CPose2D::size_type

Definition at line 239 of file CPose2D.h.

Definition at line 259 of file CPose3DQuat.h.

Definition at line 395 of file CPose3DRotVec.h.

typedef std::size_t mrpt::poses::CPose3D::size_type

Definition at line 524 of file CPose3D.h.

The type of the elements.

Definition at line 74 of file CPoint2D.h.

The type of the elements.

Definition at line 80 of file CPoint3D.h.

The type of the elements.

Definition at line 236 of file CPose2D.h.

The type of the elements.

Definition at line 256 of file CPose3DQuat.h.

The type of the elements.

Definition at line 392 of file CPose3DRotVec.h.

The type of the elements.

Definition at line 521 of file CPose3D.h.

Enumeration Type Documentation

anonymous enum
Enumerator
is_3D_val 

Definition at line 67 of file CPoint2D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 69 of file CPoint2D.h.

anonymous enum
Enumerator
static_size 

Definition at line 81 of file CPoint2D.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 72 of file CPoint3D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 75 of file CPoint3D.h.

anonymous enum
Enumerator
static_size 

Definition at line 88 of file CPoint3D.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 223 of file CPose2D.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 225 of file CPose2D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 226 of file CPose2D.h.

anonymous enum
Enumerator
static_size 

Definition at line 243 of file CPose2D.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 510 of file CPose3D.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 512 of file CPose3D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 513 of file CPose3D.h.

anonymous enum
Enumerator
static_size 

Definition at line 529 of file CPose3D.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 245 of file CPose3DQuat.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 247 of file CPose3DQuat.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 248 of file CPose3DQuat.h.

anonymous enum
Enumerator
static_size 

Definition at line 263 of file CPose3DQuat.h.

anonymous enum
Enumerator
is_3D_val 

Definition at line 379 of file CPose3DRotVec.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 381 of file CPose3DRotVec.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 382 of file CPose3DRotVec.h.

anonymous enum
Enumerator
static_size 

Definition at line 400 of file CPose3DRotVec.h.

anonymous enum
Enumerator
VECTOR_SIZE 

Definition at line 31 of file SE_traits.h.

anonymous enum
Enumerator
VECTOR_SIZE 

Definition at line 64 of file SE_traits.h.

Type to select the interpolation method in CPose3DInterpolator::setInterpolationMethod.

  • imSpline: Spline interpolation using 4 points (2 before + 2 after the query point).
  • imLinear2Neig: Linear interpolation between the previous and next neightbour.
  • imLinear4Neig: Linear interpolation using the linear fit of the 4 closer points (2 before + 2 after the query point).
  • imSSLLLL : Use Spline for X and Y, and Linear Least squares for Z, yaw, pitch and roll.
  • imSSLSLL : Use Spline for X, Y and yaw, and Linear Lesat squares for Z, pitch and roll.
  • imLinearSlerp: Linear for X,Y,Z, Slerp for 3D angles.
  • imSplineSlerp: Spline for X,Y,Z, Slerp for 3D angles.
Enumerator
imSpline 
imLinear2Neig 
imLinear4Neig 
imSSLLLL 
imSSLSLL 
imLinearSlerp 
imSplineSlerp 

Definition at line 76 of file CPose3DInterpolator.h.

Function Documentation

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

Definition at line 269 of file CPose3DQuat.h.

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

Definition at line 412 of file CPose3DQuat.h.

const_iterator mrpt::poses::CPose3DQuat::begin ( ) const
inline

Definition at line 414 of file CPose3DQuat.h.

static bool mrpt::poses::CPoint2D::empty ( )
inlinestatic

Definition at line 83 of file CPoint2D.h.

static bool mrpt::poses::CPoint3D::empty ( )
inlinestatic

Definition at line 90 of file CPoint3D.h.

static bool mrpt::poses::CPose2D::empty ( )
inlinestatic

Definition at line 245 of file CPose2D.h.

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

Definition at line 265 of file CPose3DQuat.h.

static bool mrpt::poses::CPose3DRotVec::empty ( )
inlinestatic

Definition at line 402 of file CPose3DRotVec.h.

static bool mrpt::poses::CPose3D::empty ( )
inlinestatic

Definition at line 531 of file CPose3D.h.

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

Definition at line 413 of file CPose3DQuat.h.

References static_size.

const_iterator mrpt::poses::CPose3DQuat::end ( ) const
inline

Definition at line 415 of file CPose3DQuat.h.

References static_size.

static size_type mrpt::poses::CPoint2D::max_size ( )
inlinestatic

Definition at line 84 of file CPoint2D.h.

References static_size.

static size_type mrpt::poses::CPoint3D::max_size ( )
inlinestatic

Definition at line 91 of file CPoint3D.h.

References static_size.

static size_type mrpt::poses::CPose2D::max_size ( )
inlinestatic

Definition at line 246 of file CPose2D.h.

References static_size.

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

Definition at line 266 of file CPose3DQuat.h.

References static_size.

static size_type mrpt::poses::CPose3DRotVec::max_size ( )
inlinestatic

Definition at line 403 of file CPose3DRotVec.h.

References static_size.

static size_type mrpt::poses::CPose3D::max_size ( )
inlinestatic

Definition at line 532 of file CPose3D.h.

References static_size.

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

Definition at line 416 of file CPose3DQuat.h.

References end().

const_reverse_iterator mrpt::poses::CPose3DQuat::rbegin ( ) const
inline

Definition at line 417 of file CPose3DQuat.h.

References end().

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

Definition at line 418 of file CPose3DQuat.h.

References begin().

const_reverse_iterator mrpt::poses::CPose3DQuat::rend ( ) const
inline

Definition at line 419 of file CPose3DQuat.h.

References begin().

static void mrpt::poses::CPoint2D::resize ( const size_t  n)
inlinestatic

Definition at line 85 of file CPoint2D.h.

References mrpt::format(), and static_size.

static void mrpt::poses::CPoint3D::resize ( const size_t  n)
inlinestatic

Definition at line 92 of file CPoint3D.h.

References mrpt::format(), and static_size.

static void mrpt::poses::CPose2D::resize ( const size_t  n)
inlinestatic

Definition at line 247 of file CPose2D.h.

References mrpt::format(), and static_size.

static void mrpt::poses::CPose3DQuat::resize ( const size_t  n)
inlinestatic

Definition at line 267 of file CPose3DQuat.h.

References mrpt::format(), and static_size.

static void mrpt::poses::CPose3DRotVec::resize ( const size_t  n)
inlinestatic

Definition at line 404 of file CPose3DRotVec.h.

References mrpt::format(), and static_size.

static void mrpt::poses::CPose3D::resize ( const size_t  n)
inlinestatic

Definition at line 533 of file CPose3D.h.

References mrpt::format(), and static_size.

static size_type mrpt::poses::CPoint2D::size ( )
inlinestatic

Definition at line 82 of file CPoint2D.h.

References static_size.

static size_type mrpt::poses::CPoint3D::size ( )
inlinestatic

Definition at line 89 of file CPoint3D.h.

References static_size.

static size_type mrpt::poses::CPose2D::size ( )
inlinestatic

Definition at line 244 of file CPose2D.h.

References static_size.

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

Definition at line 264 of file CPose3DQuat.h.

References static_size.

static size_type mrpt::poses::CPose3DRotVec::size ( )
inlinestatic

Definition at line 401 of file CPose3DRotVec.h.

References static_size.

static size_type mrpt::poses::CPose3D::size ( )
inlinestatic

Definition at line 530 of file CPose3D.h.

References static_size.

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

Variable Documentation

template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SE_average

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

See also
SO_average, SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 29 of file SO_SE_average.h.

template<size_t DOF>
struct BASE_IMPEXP mrpt::poses::SE_traits

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

See also
SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 26 of file SE_traits.h.

template<size_t DOF>
class BASE_IMPEXP mrpt::poses::SO_average

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

See also
SE_average, SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 25 of file SO_SE_average.h.




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