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List of all members | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes

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 1666 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types

enum  { static_size = 6 }
 

Public Member Functions

 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...
 
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::poses::CPose3D &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
 
double vy
 
double vz
 Velocity components: X,Y (m/s) More...
 
double wx
 
double wy
 
double wz
 Angular velocity (rad/s) More...
 

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 1667 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

◆ TTwist3D() [1/2]

mrpt::math::TTwist3D::TTwist3D ( double  vx_,
double  vy_,
double  vz_,
double  wx_,
double  wy_,
double  wz_ 
)
inline

Constructor from components.

Definition at line 1672 of file lightweight_geom_data.h.

◆ TTwist3D() [2/2]

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

Default fast constructor.

Initializes to garbage

Definition at line 1674 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

◆ asString() [2/2]

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

Definition at line 1690 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

◆ 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

◆ getAsVector()

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

Transformation into vector.

Definition at line 1680 of file lightweight_geom_data.h.

References mrpt::math::operator!=(), and mrpt::math::operator==().

◆ operator!=()

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

◆ operator==()

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

◆ operator[]() [1/2]

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

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 1676 of file lightweight_geom_data.h.

◆ operator[]() [2/2]

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

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 1678 of file lightweight_geom_data.h.

◆ rotate()

void mrpt::math::TTwist3D::rotate ( const mrpt::poses::CPose3D 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

◆ size()

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

Member Data Documentation

◆ vx

double mrpt::math::TTwist3D::vx

Definition at line 1668 of file lightweight_geom_data.h.

◆ vy

double mrpt::math::TTwist3D::vy

Definition at line 1668 of file lightweight_geom_data.h.

◆ vz

double mrpt::math::TTwist3D::vz

Velocity components: X,Y (m/s)

Definition at line 1668 of file lightweight_geom_data.h.

◆ wx

double mrpt::math::TTwist3D::wx

Definition at line 1669 of file lightweight_geom_data.h.

◆ wy

double mrpt::math::TTwist3D::wy

Definition at line 1669 of file lightweight_geom_data.h.

◆ wz

double mrpt::math::TTwist3D::wz

Angular velocity (rad/s)

Definition at line 1669 of file lightweight_geom_data.h.




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