LibXR::Position< Scalar > Class Template Reference

三维空间中的位置向量 / 3D position vector More...

#include <transform.hpp>

Inheritance diagram for LibXR::Position< Scalar >:

Collaboration diagram for LibXR::Position< Scalar >:

Public Member Functions
	Position ()
	默认构造函数，初始化为 (0,0,0) / Default constructor initializing to (0,0,0)
	Position (Scalar x, Scalar y, Scalar z)
	构造函数，指定 x, y, z 坐标 / Constructor specifying x, y, z coordinates
	Position (const Eigen::Matrix< Scalar, 3, 1 > &p)
	复制构造函数 / Copy constructor
	Position (const Position &p)
	复制构造函数 / Copy constructor
template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>
	Position (const T(&data)[3])
	乘以旋转矩阵 / Multiply by a rotation matrix
Position &	operator= (const Eigen::Matrix< Scalar, 3, 1 > &p)
	赋值运算符，将 Eigen 向量赋值给 Position / Assignment operator to assign an Eigen vector to Position
Position &	operator= (const Position &p)
	赋值运算符，将 Eigen 向量赋值给 Position / Assignment operator to assign an Eigen vector to Position
template<typename Rotation , std::enable_if_t< std::is_same< Rotation, RotationMatrix< Scalar > >::value||std::is_same< Rotation, Eigen::Matrix< Scalar, 3, 3 > >::value||std::is_same< Rotation, Quaternion< Scalar > >::value||std::is_same< Rotation, Eigen::Quaternion< Scalar > >::value, int > = 0>
Eigen::Matrix< Scalar, 3, 1 >	operator* (const Rotation &R) const
	赋值运算符，将另一个 Position 赋值给当前对象 / Assignment operator to assign another Position to this object
template<typename Rotation , std::enable_if_t< std::is_same< Rotation, RotationMatrix< Scalar > >::value||std::is_same< Rotation, Eigen::Matrix< Scalar, 3, 3 > >::value||std::is_same< Rotation, Quaternion< Scalar > >::value||std::is_same< Rotation, Eigen::Quaternion< Scalar > >::value, int > = 0>
const Position &	operator*= (const Rotation &R)
	旋转并更新当前向量 / Rotate and update the current vector
Eigen::Matrix< Scalar, 3, 1 >	operator/ (const RotationMatrix< Scalar > &R) const
	旋转矩阵的逆变换 / Inverse transformation using a rotation matrix
const Position &	operator/= (const Quaternion< Scalar > &q)
	逆四元数旋转并更新当前向量 / Apply inverse quaternion rotation and update the current vector
const Position &	operator/= (const Eigen::Matrix< Scalar, 3, 3 > &R)
	逆旋转矩阵变换并更新当前向量 / Apply inverse rotation matrix transformation and update the current vector
const Position &	operator/= (const Eigen::Quaternion< Scalar > &q)
	逆四元数变换并更新当前向量 / Apply inverse quaternion transformation and update the current vector
const Position &	operator*= (Scalar s)
	按标量缩放当前向量 / Scale the current vector by a scalar
const Position &	operator/= (Scalar s)
	按标量除法缩放当前向量 / Scale the current vector by dividing with a scalar
Eigen::Quaternion< Scalar >	operator/ (const Position<> &p)
	计算从另一个 Position 到当前 Position 的旋转四元数 / Compute the quaternion rotation from another Position to the current Position

Detailed Description

template<typename Scalar>
class LibXR::Position< Scalar >

三维空间中的位置向量 / 3D position vector

该类基于 Eigen::Matrix<Scalar, 3, 1>，用于表示三维坐标中的位置，并支持基本的 旋转、缩放和转换运算。 This class extends Eigen::Matrix<Scalar, 3, 1> to represent a position in 3D space, supporting basic rotation, scaling, and transformation operations.

Template Parameters

Scalar

数值类型（默认使用 DefaultScalar） / Numeric type (default: DefaultScalar)

Definition at line 38 of file transform.hpp.

Constructor & Destructor Documentation

Position() [1/5]

template<typename Scalar >

LibXR::Position< Scalar >::Position ( )

inline

默认构造函数，初始化为 (0,0,0) / Default constructor initializing to (0,0,0)

Definition at line 45 of file transform.hpp.

: Eigen::Matrix<Scalar, 3, 1>(0, 0, 0) {}

Position() [2/5]

template<typename Scalar >

LibXR::Position< Scalar >::Position ( Scalar x, Scalar y, Scalar z )

inline

构造函数，指定 x, y, z 坐标 / Constructor specifying x, y, z coordinates

Parameters

x	X 坐标 / X coordinate
y	Y 坐标 / Y coordinate
z	Z 坐标 / Z coordinate

Definition at line 54 of file transform.hpp.

: Eigen::Matrix<Scalar, 3, 1>(x, y, z) {}

Position() [3/5]

template<typename Scalar >

LibXR::Position< Scalar >::Position ( const Eigen::Matrix< Scalar, 3, 1 > & p )

inline

复制构造函数 / Copy constructor

Parameters

p	另一个 Position 实例 / Another Position instance

Definition at line 60 of file transform.hpp.

: Eigen::Matrix<Scalar, 3, 1>(p) {}

Position() [4/5]

template<typename Scalar >

LibXR::Position< Scalar >::Position ( const Position< Scalar > & p )

inline

复制构造函数 / Copy constructor

Parameters

p	另一个 Position 实例 / Another Position instance

Definition at line 66 of file transform.hpp.

: Eigen::Matrix<Scalar, 3, 1>(p) {}

Position() [5/5]

template<typename Scalar >

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::Position< Scalar >::Position ( const T(&) data[3] )

inline

乘以旋转矩阵 / Multiply by a rotation matrix

Template Parameters

Rotation

旋转矩阵类型 / Rotation matrix type

Parameters

R	旋转矩阵 / Rotation matrix

Returns

旋转后的 Position / Rotated Position

Definition at line 78 of file transform.hpp.

                               : Eigen::Matrix<Scalar, 3, 1>(data)
  {
  }

Member Function Documentation

operator*()

template<typename Scalar >

template<typename Rotation , std::enable_if_t< std::is_same< Rotation, RotationMatrix< Scalar > >::value||std::is_same< Rotation, Eigen::Matrix< Scalar, 3, 3 > >::value||std::is_same< Rotation, Quaternion< Scalar > >::value||std::is_same< Rotation, Eigen::Quaternion< Scalar > >::value, int > = 0>

Eigen::Matrix< Scalar, 3, 1 > LibXR::Position< Scalar >::operator* ( const Rotation & R ) const

inline

赋值运算符，将另一个 Position 赋值给当前对象 / Assignment operator to assign another Position to this object

Parameters

p	另一个 Position / Another Position object

Returns

赋值后的 Position / Updated Position object

Definition at line 123 of file transform.hpp.

  {
    return R * (*this);
  }

operator*=() [1/2]

template<typename Scalar >

template<typename Rotation , std::enable_if_t< std::is_same< Rotation, RotationMatrix< Scalar > >::value||std::is_same< Rotation, Eigen::Matrix< Scalar, 3, 3 > >::value||std::is_same< Rotation, Quaternion< Scalar > >::value||std::is_same< Rotation, Eigen::Quaternion< Scalar > >::value, int > = 0>

const Position & LibXR::Position< Scalar >::operator*= ( const Rotation & R )

inline

旋转并更新当前向量 / Rotate and update the current vector

Template Parameters

Rotation

旋转类型，可为旋转矩阵、四元数等 / Rotation type (can be a rotation matrix, quaternion, etc.)

Parameters

R	旋转矩阵或四元数 / Rotation matrix or quaternion

Returns

更新后的 Position / Updated Position object

Definition at line 142 of file transform.hpp.

  {
    *this = R * (*this);
    return *this;
  }

operator*=() [2/2]

template<typename Scalar >

const Position & LibXR::Position< Scalar >::operator*= ( Scalar s )

inline

按标量缩放当前向量 / Scale the current vector by a scalar

Parameters

s	缩放因子 / Scaling factor

Returns

更新后的 Position / Updated Position object

Definition at line 199 of file transform.hpp.

  {
    *this = s * (*this);
    return *this;
  }

operator/() [1/2]

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::Position< Scalar >::operator/ ( const Position<> & p )

inline

计算从另一个 Position 到当前 Position 的旋转四元数 / Compute the quaternion rotation from another Position to the current Position

Parameters

p	参考 Position / Reference Position

Returns

旋转四元数 / Quaternion rotation

Definition at line 224 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>::FromTwoVectors(p, *this);
  }

operator/() [2/2]

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::Position< Scalar >::operator/ ( const RotationMatrix< Scalar > & R ) const

inline

旋转矩阵的逆变换 / Inverse transformation using a rotation matrix

Parameters

R	旋转矩阵 / Rotation matrix

Returns

变换后的向量 / Transformed vector

Definition at line 153 of file transform.hpp.

  {
    return (-R) * (*this);
  }

operator/=() [1/4]

template<typename Scalar >

const Position & LibXR::Position< Scalar >::operator/= ( const Eigen::Matrix< Scalar, 3, 3 > & R )

inline

逆旋转矩阵变换并更新当前向量 / Apply inverse rotation matrix transformation and update the current vector

Parameters

R	旋转矩阵 / Rotation matrix

Returns

更新后的 Position / Updated Position object

Definition at line 176 of file transform.hpp.

  {
    *this = R.transpose() * Eigen::Map<const Eigen::Matrix<Scalar, 3, 1>>(this->data_);
    return *this;
  }

operator/=() [2/4]

template<typename Scalar >

const Position & LibXR::Position< Scalar >::operator/= ( const Eigen::Quaternion< Scalar > & q )

inline

逆四元数变换并更新当前向量 / Apply inverse quaternion transformation and update the current vector

Parameters

q	四元数 / Quaternion

Returns

更新后的 Position / Updated Position object

Definition at line 188 of file transform.hpp.

  {
    *this = q.conjugate() * Eigen::Map<const Eigen::Matrix<Scalar, 3, 1>>(this->data_);
    return *this;
  }

operator/=() [3/4]

template<typename Scalar >

const Position & LibXR::Position< Scalar >::operator/= ( const Quaternion< Scalar > & q )

inline

逆四元数旋转并更新当前向量 / Apply inverse quaternion rotation and update the current vector

Parameters

q	四元数 / Quaternion

Returns

更新后的 Position / Updated Position object

Definition at line 164 of file transform.hpp.

  {
    *this = (-q) * (*this);
    return *this;
  }

operator/=() [4/4]

template<typename Scalar >

const Position & LibXR::Position< Scalar >::operator/= ( Scalar s )

inline

按标量除法缩放当前向量 / Scale the current vector by dividing with a scalar

Parameters

s	缩放因子 / Scaling factor

Returns

更新后的 Position / Updated Position object

Definition at line 210 of file transform.hpp.

  {
    (*this)[0] /= s;
    (*this)[1] /= s;
    (*this)[2] /= s;
    return *this;
  }

operator=() [1/2]

template<typename Scalar >

Position & LibXR::Position< Scalar >::operator= ( const Eigen::Matrix< Scalar, 3, 1 > & p )

inline

赋值运算符，将 Eigen 向量赋值给 Position / Assignment operator to assign an Eigen vector to Position

Parameters

p	Eigen 3x1 向量 / Eigen 3x1 vector

Returns

赋值后的 Position / Updated Position object

Definition at line 88 of file transform.hpp.

  {
    memcpy(this->data(), p.data(), 3 * sizeof(Scalar));
    return *this;
  }

operator=() [2/2]

template<typename Scalar >

Position & LibXR::Position< Scalar >::operator= ( const Position< Scalar > & p )

inline

赋值运算符，将 Eigen 向量赋值给 Position / Assignment operator to assign an Eigen vector to Position

Parameters

p	Eigen 3x1 向量 / Eigen 3x1 vector

Returns

赋值后的 Position / Updated Position object

Definition at line 100 of file transform.hpp.

  {
    if (this != &p)
    {
      memcpy(this->data(), p.data(), 3 * sizeof(Scalar));
    }
 
    return *this;
  }

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

• src/utils/transform.hpp