isam::Pose3d Class Reference

#include <Pose3d.h>

List of all members.

Public Member Functions
	Pose3d (double x, double y, double z, double yaw, double pitch, double roll)
	Pose3d (const Eigen::MatrixXd &m)
	Pose3d (const Eigen::Isometry3d &T)
	Pose3d (const Point3d &t, const Rot3d &rot)
double	x () const
double	y () const
double	z () const
double	yaw () const
double	pitch () const
double	roll () const
Point3d	trans () const
Rot3d	rot () const
void	set_x (double x)
void	set_y (double y)
void	set_z (double z)
void	set_yaw (double yaw)
void	set_pitch (double pitch)
void	set_roll (double roll)
Pose3d	exmap (const Vector6d &delta) const
Vector6d	vector () const
void	set (double x, double y, double z, double yaw, double pitch, double roll)
void	set (const Vector6d &v)
void	of_pose2d (const Pose2d &p)
void	of_point2d (const Point2d &p)
void	of_point3d (const Point3d &p)
void	write (std::ostream &out) const
Eigen::VectorXb	is_angle () const
Eigen::Matrix4d	wTo () const
Eigen::Matrix4d	oTw () const
Pose3d	oplus (const Pose3d &d) const
Pose3d	ominus (const Pose3d &b) const
Point3dh	transform_to (const Point3dh &p) const
Point3d	transform_to (const Point3d &p) const
Point3dh	transform_from (const Point3dh &p) const
Point3d	transform_from (const Point3d &p) const
Static Public Member Functions
static const char *	name ()
Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int	dim = 6
Friends
std::ostream &	operator<< (std::ostream &out, const Pose3d &p)

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Detailed Description

Conventions:

Right-handed coordinate system (NED: north-east-down) X forward (along default motion of robot) Y right Z down

Rotations are represented using standard Euler angles yaw pitch roll

Note that Euler angles transform objects from the global into the local frame of the vehicle: First yaw rotates around Z (changing X and Y axes to X' and Y'), then pitch around the new Y' axis, and finally roll around the new X' axis.

In contrast, the returned rotation and transformation matrices are defined in the opposite direction: wTo transforms a point from the local (second) system to the global (first) system

Definition at line 69 of file Pose3d.h.

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Member Function Documentation

Pose3d isam::Pose3d::ominus

(

const Pose3d &

b

)

const [inline]

Odometry d from b to this pose (a). Follows notation of Lu&Milios 1997.

Parameters:

b	Base frame.

Returns:

Global this (a) expressed in base frame b.

Definition at line 232 of file Pose3d.h.

Pose3d isam::Pose3d::oplus

(

const Pose3d &

d

)

const [inline]

Calculate new pose b composed from this pose (a) and the odometry d. Follows notation of Lu&Milios 1997.

Parameters:

d	Pose difference to add.

Returns:

d transformed from being local in this frame (a) to the global frame.

Definition at line 221 of file Pose3d.h.

Eigen::Matrix4d isam::Pose3d::oTw

(

)

const [inline]

Convert Pose3 to homogeneous 4x4 transformation matrix. Avoids inverting wTo. The returned matrix is the world coordinate frame in the object coordinate frame. In other words it transforms a point in the world frame to the object frame.

Returns:

oTw

Definition at line 203 of file Pose3d.h.

Point3dh isam::Pose3d::transform_from

(

const Point3dh &

p

)

const [inline]

Project point from this coordinate frame.

Parameters:

p	Point to project

Returns:

Point p is expressed in the global frame.

Definition at line 260 of file Pose3d.h.

Point3d isam::Pose3d::transform_from

(

const Point3d &

p

)

const [inline]

Project point from this coordinate frame.

Parameters:

p	Point to project

Returns:

Point p is expressed in the global frame.

Definition at line 269 of file Pose3d.h.

Point3dh isam::Pose3d::transform_to

(

const Point3dh &

p

)

const [inline]

Project point into this coordinate frame.

Parameters:

p	Point to project

Returns:

Point p locally expressed in this frame.

Definition at line 241 of file Pose3d.h.

Point3d isam::Pose3d::transform_to

(

const Point3d &

p

)

const [inline]

Project point into this coordinate frame.

Parameters:

p	Point to project

Returns:

Point p locally expressed in this frame.

Definition at line 251 of file Pose3d.h.

Eigen::Matrix4d isam::Pose3d::wTo

(

)

const [inline]

Convert Pose3 to homogeneous 4x4 transformation matrix. The returned matrix is the object coordinate frame in the world coordinate frame. In other words it transforms a point in the object frame to the world frame.

Returns:

wTo

Definition at line 187 of file Pose3d.h.

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The documentation for this class was generated from the following file:

• include/isam/Pose3d.h