void TPose3DQuat::fromString(const std::string &s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_(mrpt::math::size(m,1)==1 && mrpt::math::size(m,2)==7, "Wrong size of vector in ::fromString"); for (size_t i=0;i<m.getColCount();i++) (*this)[i] = m.get_unsafe(0,i); }
void TTwist3D::fromString(const std::string &s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_(mrpt::math::size(m,1)==1 && mrpt::math::size(m,2)==6, "Wrong size of vector in ::fromString"); for (int i=0;i<3;i++) (*this)[i] = m.get_unsafe(0,i); for (int i=0;i<3;i++) (*this)[3+i] = DEG2RAD(m.get_unsafe(0,3+i)); }
void TTwist2D::fromString(const std::string &s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_(mrpt::math::size(m,1)==1 && mrpt::math::size(m,2)==3, "Wrong size of vector in ::fromString"); vx = m.get_unsafe(0,0); vy = m.get_unsafe(0,1); omega = DEG2RAD(m.get_unsafe(0,2)); }
void TPose3DQuat::fromString(const std::string& s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_( m.rows() == 1 && m.cols() == 7, "Wrong size of vector in ::fromString"); for (int i = 0; i < m.cols(); i++) (*this)[i] = m.get_unsafe(0, i); }
void TPose2D::fromString(const std::string& s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_( m.rows() == 1 && m.cols() == 3, "Wrong size of vector in ::fromString"); x = m.get_unsafe(0, 0); y = m.get_unsafe(0, 1); phi = DEG2RAD(m.get_unsafe(0, 2)); }
void TPose3D::fromString(const std::string &s) { CMatrixDouble m; if (!m.fromMatlabStringFormat(s)) THROW_EXCEPTION("Malformed expression in ::fromString"); ASSERTMSG_(mrpt::math::size(m,1)==1 && mrpt::math::size(m,2)==6, "Wrong size of vector in ::fromString"); x=m.get_unsafe(0,0); y=m.get_unsafe(0,1); z=m.get_unsafe(0,2); yaw=DEG2RAD(m.get_unsafe(0,3)); pitch=DEG2RAD(m.get_unsafe(0,4)); roll=DEG2RAD(m.get_unsafe(0,5)); }