#include <Geometry.h>
Public Member Functions | |
const Quaternion & | GetOrientation () const |
const Vector3d & | GetPosition () const |
kt_bool | operator!= (const Pose3 &rOther) const |
Pose3 & | operator= (const Pose3 &rOther) |
kt_bool | operator== (const Pose3 &rOther) const |
Pose3 () | |
Pose3 (const Vector3d &rPosition) | |
Pose3 (const Vector3d &rPosition, const karto::Quaternion &rOrientation) | |
Pose3 (const Pose3 &rOther) | |
Pose3 (const Pose2 &rPose) | |
void | SetOrientation (const Quaternion &rOrientation) |
void | SetPosition (const Vector3d &rPosition) |
const String | ToString () const |
Private Attributes | |
Quaternion | m_Orientation |
Vector3d | m_Position |
Friends | |
KARTO_FORCEINLINE std::ostream & | operator<< (std::ostream &rStream, const Pose3 &rPose) |
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 2409 of file Geometry.h.
karto::Pose3::Pose3 | ( | ) | [inline] |
Pose at the origin and quaternion with components (0, 0, 0, 1)
Definition at line 2415 of file Geometry.h.
karto::Pose3::Pose3 | ( | const Vector3d & | rPosition | ) | [inline] |
Pose object at the given position.
rPosition | vector |
Definition at line 2423 of file Geometry.h.
karto::Pose3::Pose3 | ( | const Vector3d & | rPosition, |
const karto::Quaternion & | rOrientation | ||
) | [inline] |
Pose at the given position and orientation.
rPosition | position vector |
rOrientation | quaternion orientation |
Definition at line 2433 of file Geometry.h.
karto::Pose3::Pose3 | ( | const Pose3 & | rOther | ) | [inline] |
Copy constructor
Definition at line 2442 of file Geometry.h.
karto::Pose3::Pose3 | ( | const Pose2 & | rPose | ) | [inline] |
Constructs a pose object from a Pose2.
rPose | pose |
Definition at line 2452 of file Geometry.h.
const Quaternion& karto::Pose3::GetOrientation | ( | ) | const [inline] |
Gets the orientation quaternion of this pose
Definition at line 2481 of file Geometry.h.
const Vector3d& karto::Pose3::GetPosition | ( | ) | const [inline] |
Gets the position of this pose
Definition at line 2463 of file Geometry.h.
Inequality operator
Definition at line 2531 of file Geometry.h.
Assignment operator
Definition at line 2512 of file Geometry.h.
Equality operator
Definition at line 2523 of file Geometry.h.
void karto::Pose3::SetOrientation | ( | const Quaternion & | rOrientation | ) | [inline] |
Sets the orientation quaternion of this pose
rOrientation | orientation quaternion |
Definition at line 2490 of file Geometry.h.
void karto::Pose3::SetPosition | ( | const Vector3d & | rPosition | ) | [inline] |
Sets the position of this pose
rPosition | new position |
Definition at line 2472 of file Geometry.h.
const String karto::Pose3::ToString | ( | ) | const [inline] |
Returns a string representation of this pose
Definition at line 2499 of file Geometry.h.
KARTO_FORCEINLINE std::ostream& operator<< | ( | std::ostream & | rStream, |
const Pose3 & | rPose | ||
) | [friend] |
Write pose onto output stream
Definition at line 2539 of file Geometry.h.
Quaternion karto::Pose3::m_Orientation [private] |
Definition at line 2547 of file Geometry.h.
Vector3d karto::Pose3::m_Position [private] |
Definition at line 2546 of file Geometry.h.