karto::Pose3 Class Reference

#include <Karto.h>

List of all members.

Public Member Functions
const Quaternion &	GetOrientation () const
const Vector3< kt_double > &	GetPosition () const
kt_bool	operator!= (const Pose3 &rOther) const
Pose3 &	operator= (const Pose3 &rOther)
kt_bool	operator== (const Pose3 &rOther) const
	Pose3 (const Pose2 &rPose)
	Pose3 (const Pose3 &rOther)
	Pose3 (const Vector3< kt_double > &rPosition, const karto::Quaternion &rOrientation)
	Pose3 (const Vector3< kt_double > &rPosition)
	Pose3 ()
void	SetOrientation (const Quaternion &rOrientation)
void	SetPosition (const Vector3< kt_double > &rPosition)
std::string	ToString ()
Private Attributes
Quaternion	m_Orientation
Vector3< kt_double >	m_Position
Friends
std::ostream &	operator<< (std::ostream &rStream, const Pose3 &rPose)
std::istream &	operator>> (std::istream &rStream, const Pose3 &)

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Detailed Description

Defines a position and orientation in 3-dimensional space. Karto uses a right-handed coordinate system with X, Y as the 2-D ground plane and X is forward and Y is left. Values in Vector3 used to define position must have units of meters. The value of angle when defining orientation in two dimensions must be in units of radians. The definition of orientation in three dimensions uses quaternions.

Definition at line 2076 of file Karto.h.

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Constructor & Destructor Documentation

karto::Pose3::Pose3

(

)

[inline]

Default constructor

Definition at line 2082 of file Karto.h.

karto::Pose3::Pose3

(

const Vector3< kt_double > &

rPosition

)

[inline]

Create a new Pose3 object from the given position.

Parameters:

rPosition

position vector in three space.

Definition at line 2090 of file Karto.h.

karto::Pose3::Pose3	(	const Vector3< kt_double > &	rPosition,
		const karto::Quaternion &	rOrientation
	)			[inline]

Create a new Pose3 object from the given position and orientation.

Parameters:

	rPosition	position vector in three space.
	rOrientation	quaternion orientation in three space.

Definition at line 2100 of file Karto.h.

karto::Pose3::Pose3

(

const Pose3 &

rOther

)

[inline]

Copy constructor

Definition at line 2109 of file Karto.h.

karto::Pose3::Pose3

(

const Pose2 &

rPose

)

[inline]

Constructs a Pose3 object from a Pose2.

Definition at line 2118 of file Karto.h.

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Member Function Documentation

const Quaternion& karto::Pose3::GetOrientation

(

)

const [inline]

Get the orientation quaternion of the pose as const.

Returns:

orientation quaternion as const

Definition at line 2147 of file Karto.h.

const Vector3<kt_double>& karto::Pose3::GetPosition

(

)

const [inline]

Get the position of the pose as a 3D vector as const. Values have units of meters.

Returns:

3-dimensional position vector as const

Definition at line 2129 of file Karto.h.

kt_bool karto::Pose3::operator!=

(

const Pose3 &

rOther

)

const [inline]

Inequality operator

Definition at line 2198 of file Karto.h.

Pose3& karto::Pose3::operator=

(

const Pose3 &

rOther

)

[inline]

Assignment operator

Definition at line 2179 of file Karto.h.

kt_bool karto::Pose3::operator==

(

const Pose3 &

rOther

)

const [inline]

Equality operator

Definition at line 2190 of file Karto.h.

void karto::Pose3::SetOrientation

(

const Quaternion &

rOrientation

)

[inline]

Get the orientation quaternion of the pose.

Returns:

orientation quaternion

Definition at line 2156 of file Karto.h.

void karto::Pose3::SetPosition

(

const Vector3< kt_double > &

rPosition

)

[inline]

Set the position of the pose as a 3D vector. Values have units of meters.

Returns:

3-dimensional position vector

Definition at line 2138 of file Karto.h.

std::string karto::Pose3::ToString

(

)

[inline]

Returns a string representation of this pose

Returns:

string representation of this pose

Definition at line 2165 of file Karto.h.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	rStream,
		const Pose3 &	rPose
	)			[friend]

Write Pose3 onto output stream

Parameters:

	rStream	output stream
	rPose	to write

Definition at line 2208 of file Karto.h.

std::istream& operator>>	(	std::istream &	rStream,
		const Pose3 &
	)			[friend]

Read Pose3 from input stream

Parameters:

	rStream	input stream
	rPose	to read

Definition at line 2219 of file Karto.h.

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Member Data Documentation

Quaternion karto::Pose3::m_Orientation [private]

Definition at line 2227 of file Karto.h.

Vector3<kt_double> karto::Pose3::m_Position [private]

Definition at line 2226 of file Karto.h.

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

• Karto.h