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BIAS::PoseParametrization Class Reference

Slim class bundeling pose parametrization and associated covariance matrix. More...

#include <Base/Geometry/PoseParametrization.hh>

+ Collaboration diagram for BIAS::PoseParametrization:

Public Member Functions

const Matrix< PP_TYPE > & GetCovarianceMatrix () const
 returns the covariance matrix associated with the CQ vector More...
 
const Vector< PP_TYPE > & GetCQ () const
 returns a vector of dimension 7 where first 3 entries are the position and the last 4 entries are the quaternion orientation More...
 
Quaternion< PP_TYPE > GetOrientation () const
 returns the quaternion (last 4 entries) part of the pose parametrization vector More...
 
Vector3< PP_TYPE > GetPosition () const
 returns the position (first 3 entries) part of the pose parametrization vector More...
 
bool Load (const std::string &file)
 
 PoseParametrization ()
 
 PoseParametrization (const Vector< PP_TYPE > &CQvec, const Matrix< PP_TYPE > &covariance)
 
 PoseParametrization (const Vector3< PP_TYPE > &position, const Quaternion< PP_TYPE > &orientation, const Matrix< PP_TYPE > &covariance)
 
bool Save (const std::string &file) const
 
void Set (const Vector3< PP_TYPE > &position, const Quaternion< PP_TYPE > &orientation, const Matrix< PP_TYPE > &covariance=Matrix< double >(7, 7, MatrixZero))
 Set this from position, orientation and covariance. More...
 
void Set (const Vector< PP_TYPE > &CQvec, const Matrix< PP_TYPE > &Cov)
 
void SetCovarianceMatrix (const Matrix< PP_TYPE > &Cov)
 Sets covariance matrix from Cov. More...
 
void SetCQ (const Vector< PP_TYPE > &CQvec)
 Set this from pose parametrization. More...
 
void SetCQ (const Vector3< PP_TYPE > &position, const Quaternion< PP_TYPE > &orientation)
 Set this from position and orientation. More...
 
void SetOrientation (const Quaternion< PP_TYPE > &q)
 set orientation part of vector and zero covariance matrix More...
 
void SetPosition (const Vector3< PP_TYPE > &C)
 set position part of vector and zero covariance matrix More...
 
void Transform (const Vector3< double > &T, const Quaternion< double > &q)
 Transforms the pose and associated covariance according to the point transformation parametrized as translation T and rotation Q. More...
 
void Transform (const Vector3< double > &T, const Quaternion< double > &q, const double s)
 Transforms the pose and associated covariance according to the point transformation parametrized as translation T, rotation Q and scale s. More...
 

Protected Member Functions

void CQ2Pose_ (const Vector3< PP_TYPE > &position, const Quaternion< PP_TYPE > &orientation, Vector< PP_TYPE > &pose) const
 
void Pose2CQ_ (const Vector< PP_TYPE > &pose, Vector3< PP_TYPE > &position, Quaternion< PP_TYPE > &orientation) const
 

Protected Attributes

Matrix< PP_TYPE > Cov_
 first columns relate to position More...
 
Vector< PP_TYPE > Pose_
 first 3 entries relate to the position More...
 

Detailed Description

Slim class bundeling pose parametrization and associated covariance matrix.

The pose is parametrized as vector of dimension 7 where the first 3 entries represent the position (euclidean vector of dimension 3) and the last 4 entries represent the quaternion orientation.

Author
bartczak/woelk e.a. 04/2006

Definition at line 50 of file PoseParametrization.hh.

Constructor & Destructor Documentation

PoseParametrization::PoseParametrization ( )

Definition at line 13 of file PoseParametrization.cpp.

References Pose_, and BIAS::Vector< T >::SetZero().

PoseParametrization::PoseParametrization ( const Vector< PP_TYPE > &  CQvec,
const Matrix< PP_TYPE > &  covariance 
)

Definition at line 23 of file PoseParametrization.cpp.

References Set().

PoseParametrization::PoseParametrization ( const Vector3< PP_TYPE > &  position,
const Quaternion< PP_TYPE > &  orientation,
const Matrix< PP_TYPE > &  covariance 
)

Definition at line 32 of file PoseParametrization.cpp.

References Set().

Member Function Documentation

void BIAS::PoseParametrization::CQ2Pose_ ( const Vector3< PP_TYPE > &  position,
const Quaternion< PP_TYPE > &  orientation,
Vector< PP_TYPE > &  pose 
) const
inlineprotected

Definition at line 141 of file PoseParametrization.hh.

Referenced by Set(), and SetCQ().

const Matrix<PP_TYPE>& BIAS::PoseParametrization::GetCovarianceMatrix ( ) const
inline

returns the covariance matrix associated with the CQ vector

Definition at line 89 of file PoseParametrization.hh.

Referenced by BIAS::operator<<(), BIAS::Covariance3Dto2DHomg::Project(), and BIAS::Pose::Set().

const Vector<PP_TYPE>& BIAS::PoseParametrization::GetCQ ( ) const
inline

returns a vector of dimension 7 where first 3 entries are the position and the last 4 entries are the quaternion orientation

Definition at line 85 of file PoseParametrization.hh.

Referenced by BIAS::Covariance3Dto2DHomg::Project().

Quaternion< PP_TYPE > PoseParametrization::GetOrientation ( ) const

returns the quaternion (last 4 entries) part of the pose parametrization vector

Definition at line 94 of file PoseParametrization.cpp.

References Pose2CQ_(), and Pose_.

Referenced by BIAS::operator<<(), BIAS::Pose::Set(), BIAS::Projection3DData::Set(), and BIAS::DualQuaternion< QUAT_TYPE >::SetFromPoseParametrization().

Vector3< PP_TYPE > PoseParametrization::GetPosition ( ) const

returns the position (first 3 entries) part of the pose parametrization vector

Definition at line 84 of file PoseParametrization.cpp.

References Pose2CQ_(), and Pose_.

Referenced by BIAS::operator<<(), BIAS::Pose::Set(), BIAS::Projection3DData::Set(), and BIAS::DualQuaternion< QUAT_TYPE >::SetFromPoseParametrization().

bool PoseParametrization::Load ( const std::string &  file)

Definition at line 125 of file PoseParametrization.cpp.

void BIAS::PoseParametrization::Pose2CQ_ ( const Vector< PP_TYPE > &  pose,
Vector3< PP_TYPE > &  position,
Quaternion< PP_TYPE > &  orientation 
) const
inlineprotected

Definition at line 129 of file PoseParametrization.hh.

Referenced by GetOrientation(), and GetPosition().

bool PoseParametrization::Save ( const std::string &  file) const

Definition at line 141 of file PoseParametrization.cpp.

void PoseParametrization::Set ( const Vector3< PP_TYPE > &  position,
const Quaternion< PP_TYPE > &  orientation,
const Matrix< PP_TYPE > &  covariance = Matrix<double>(7,7,MatrixZero) 
)

Set this from position, orientation and covariance.

Definition at line 42 of file PoseParametrization.cpp.

References CQ2Pose_().

Referenced by BIAS::DualQuaternion< QUAT_TYPE >::GetPoseParametrization(), BIAS::operator>>(), and PoseParametrization().

void BIAS::PoseParametrization::Set ( const Vector< PP_TYPE > &  CQvec,
const Matrix< PP_TYPE > &  Cov 
)
inline

Definition at line 76 of file PoseParametrization.hh.

void PoseParametrization::SetCovarianceMatrix ( const Matrix< PP_TYPE > &  Cov)

Sets covariance matrix from Cov.

Cov must be a 7x7 symmetric positiv definit matrix (i.e. a covariance matrix)

Definition at line 73 of file PoseParametrization.cpp.

References Cov_, TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().

Referenced by BIAS::Pose::GetPoseParameters().

void PoseParametrization::SetCQ ( const Vector< PP_TYPE > &  CQvec)

Set this from pose parametrization.

Zeros associated covarinace matrix

Definition at line 62 of file PoseParametrization.cpp.

References Cov_, Pose_, BIAS::Matrix< T >::SetZero(), and TNT::Vector< T >::size().

void PoseParametrization::SetCQ ( const Vector3< PP_TYPE > &  position,
const Quaternion< PP_TYPE > &  orientation 
)

Set this from position and orientation.

Zeros associated covarinace matrix

Definition at line 51 of file PoseParametrization.cpp.

References Cov_, CQ2Pose_(), Pose_, and BIAS::Matrix< T >::SetZero().

void PoseParametrization::SetOrientation ( const Quaternion< PP_TYPE > &  q)

set orientation part of vector and zero covariance matrix

Definition at line 114 of file PoseParametrization.cpp.

References Cov_, Pose_, and BIAS::Matrix< T >::SetZero().

Referenced by BIAS::Pose::GetPoseParameters().

void PoseParametrization::SetPosition ( const Vector3< PP_TYPE > &  C)

set position part of vector and zero covariance matrix

Definition at line 104 of file PoseParametrization.cpp.

References Cov_, Pose_, and BIAS::Matrix< T >::SetZero().

Referenced by BIAS::Pose::GetPoseParameters().

void BIAS::PoseParametrization::Transform ( const Vector3< double > &  T,
const Quaternion< double > &  q 
)

Transforms the pose and associated covariance according to the point transformation parametrized as translation T and rotation Q.

Author
woelk 05/2006 (untested)
void BIAS::PoseParametrization::Transform ( const Vector3< double > &  T,
const Quaternion< double > &  q,
const double  s 
)

Transforms the pose and associated covariance according to the point transformation parametrized as translation T, rotation Q and scale s.

Author
bartczak 05/2006 (untested)

Member Data Documentation

Matrix<PP_TYPE> BIAS::PoseParametrization::Cov_
protected

first columns relate to position

Definition at line 127 of file PoseParametrization.hh.

Referenced by SetCovarianceMatrix(), SetCQ(), SetOrientation(), and SetPosition().

Vector<PP_TYPE> BIAS::PoseParametrization::Pose_
protected

first 3 entries relate to the position

Definition at line 125 of file PoseParametrization.hh.

Referenced by GetOrientation(), GetPosition(), PoseParametrization(), SetCQ(), SetOrientation(), and SetPosition().

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