octomath::Pose6D Class Reference

This class represents a tree-dimensional pose of an object. More...

`#include <Pose6D.h>`

## Public Member Functions | |

double | distance (const Pose6D &other) const |

Translational distance. | |

Pose6D | inv () const |

Inversion. | |

Pose6D & | inv_IP () |

Inversion. | |

bool | operator!= (const Pose6D &other) const |

Pose6D | operator* (const Pose6D &p) const |

Concatenation. | |

const Pose6D & | operator*= (const Pose6D &p) |

In place concatenation. | |

Pose6D & | operator= (const Pose6D &other) |

bool | operator== (const Pose6D &other) const |

double | pitch () const |

Pose6D () | |

Pose6D (const Vector3 &trans, const Quaternion &rot) | |

Constructor. | |

Pose6D (float x, float y, float z, double roll, double pitch, double yaw) | |

Constructor. | |

std::istream & | read (std::istream &s) |

Input operator. | |

std::istream & | readBinary (std::istream &s) |

Binary input operator. | |

double | roll () const |

Quaternion & | rot () |

Rotational component. | |

const Quaternion & | rot () const |

Rotational component. | |

Vector3 & | trans () |

Translational component. | |

const Vector3 & | trans () const |

Translational component. | |

Vector3 | transform (const Vector3 &v) const |

Transformation of a vector. | |

double | transLength () const |

Translational length. | |

std::ostream & | write (std::ostream &s) const |

Output operator. | |

std::ostream & | writeBinary (std::ostream &s) const |

Binary output operator. | |

float & | x () |

const float & | x () const |

float & | y () |

const float & | y () const |

double | yaw () const |

float & | z () |

const float & | z () const |

~Pose6D () | |

## Protected Attributes | |

Quaternion | rotation |

Vector3 | translation |

This class represents a tree-dimensional pose of an object.

The tree-dimensional pose is represented by a three-dimensional translation vector representing the position of the object and a Quaternion representing the attitude of the object

Definition at line 39 of file Pose6D.cpp.

Definition at line 55 of file Pose6D.cpp.

octomath::Pose6D::Pose6D | ( | const Vector3 & | trans, |

const Quaternion & | rot |
||

) |

Constructor.

Constructs a pose from given translation and rotation.

Definition at line 43 of file Pose6D.cpp.

octomath::Pose6D::Pose6D | ( | float | x, |

float | y, |
||

float | z, |
||

double | roll, |
||

double | pitch, |
||

double | yaw |
||

) |

Constructor.

Constructs a pose from a translation represented by its x, y, z-values and a rotation represented by its Tait-Bryan angles roll, pitch, and yaw

Definition at line 50 of file Pose6D.cpp.

double octomath::Pose6D::distance | ( | const Pose6D & | other | ) | const |

Translational distance.

**Returns:**- the translational (euclidian) distance to p

Definition at line 98 of file Pose6D.cpp.

Pose6D octomath::Pose6D::inv | ( | ) | const |

Inversion.

Inverts the coordinate transformation represented by this pose

**Returns:**- a copy of this pose inverted

Definition at line 65 of file Pose6D.cpp.

Inversion.

Inverts the coordinate transformation represented by this pose

**Returns:**- a reference to this pose

Definition at line 73 of file Pose6D.cpp.

bool octomath::Pose6D::operator!= | ( | const Pose6D & | other | ) | const |

Definition at line 115 of file Pose6D.cpp.

Concatenation.

Concatenates the coordinate transformations represented by this and p.

**Returns:**- this * p (applies first this, then p)

Definition at line 86 of file Pose6D.cpp.

In place concatenation.

Concatenates p to this Pose6D.

**Returns:**- this which results from first moving by this and afterwards by p

Definition at line 92 of file Pose6D.cpp.

Definition at line 58 of file Pose6D.cpp.

bool octomath::Pose6D::operator== | ( | const Pose6D & | other | ) | const |

Definition at line 110 of file Pose6D.cpp.

double octomath::Pose6D::pitch | ( | ) | const` [inline]` |

std::istream & octomath::Pose6D::read | ( | std::istream & | s | ) |

Input operator.

Parsing from stream which was written by write().

Definition at line 119 of file Pose6D.cpp.

std::istream & octomath::Pose6D::readBinary | ( | std::istream & | s | ) |

Binary input operator.

Parsing from binary stream which was written by writeBinary().

Definition at line 134 of file Pose6D.cpp.

double octomath::Pose6D::roll | ( | ) | const` [inline]` |

Quaternion& octomath::Pose6D::rot | ( | ) | ` [inline]` |

const Quaternion& octomath::Pose6D::rot | ( | ) | const` [inline]` |

Vector3& octomath::Pose6D::trans | ( | ) | ` [inline]` |

const Vector3& octomath::Pose6D::trans | ( | ) | const` [inline]` |

Vector3 octomath::Pose6D::transform | ( | const Vector3 & | v | ) | const |

Transformation of a vector.

Transforms the vector v by the transformation which is specified by this.

**Returns:**- the vector which is translated by the translation of this and afterwards rotated by the rotation of this.

Definition at line 80 of file Pose6D.cpp.

double octomath::Pose6D::transLength | ( | ) | const |

Translational length.

**Returns:**- the translational (euclidian) length of the translation vector of this Pose6D

Definition at line 105 of file Pose6D.cpp.

std::ostream & octomath::Pose6D::write | ( | std::ostream & | s | ) | const |

Output operator.

Output to stream in a format which can be parsed using read().

Definition at line 126 of file Pose6D.cpp.

std::ostream & octomath::Pose6D::writeBinary | ( | std::ostream & | s | ) | const |

Binary output operator.

Output to stream in a binary format which can be parsed using readBinary().

Definition at line 141 of file Pose6D.cpp.

float& octomath::Pose6D::x | ( | ) | ` [inline]` |

const float& octomath::Pose6D::x | ( | ) | const` [inline]` |

float& octomath::Pose6D::y | ( | ) | ` [inline]` |

const float& octomath::Pose6D::y | ( | ) | const` [inline]` |

double octomath::Pose6D::yaw | ( | ) | const` [inline]` |

float& octomath::Pose6D::z | ( | ) | ` [inline]` |

const float& octomath::Pose6D::z | ( | ) | const` [inline]` |

Quaternion octomath::Pose6D::rotation` [protected]` |

Vector3 octomath::Pose6D::translation` [protected]` |

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