Representation for a 3D pose (6 degrees of freedom). More...

#include <legacy_pose3d.hpp>

Public Types
typedef ecl::linear_algebra::Matrix < Float, 3, 3 >	RotationMatrix
	The type used to represent rotation matrices.
typedef ecl::linear_algebra::Matrix < Float, 3, 1 >	Translation
	The type used to represent translations.
Public Member Functions
LegacyPose3D< Float >	inverse () const
	Calculate the inverse pose.
	LegacyPose3D ()
	Initialise with zero rotation and zero translation.
template<typename Rot , typename Trans >
	LegacyPose3D (const ecl::linear_algebra::EigenBase< Rot > &rotation, const ecl::linear_algebra::EigenBase< Trans > &translation)
	Initialise with rotation matrix and translation.
template<enum Pose2DStorageType Storage_>
	LegacyPose3D (const LegacyPose2D< Float, Storage_ > &pose)
	Initialise from a 2D pose.
template<typename Trans >
	LegacyPose3D (const ecl::linear_algebra::AngleAxis< Float > &angle_axis, const ecl::linear_algebra::MatrixBase< Trans > &translation)
	Initialise from an eigen AngleAxis and a translation.
template<typename Trans >
	LegacyPose3D (const ecl::linear_algebra::Quaternion< Float > &quaternion, const ecl::linear_algebra::MatrixBase< Trans > &translation)
	Initialise from an eigen Quaternion and a translation.
	LegacyPose3D (const LegacyPose3D< Float > &pose)
	Copy constructor for 3d poses.
template<typename Float_ >
LegacyPose3D< Float >	operator* (const LegacyPose3D< Float_ > &pose) const
	Combine this pose with the incoming pose.
template<typename Float_ >
LegacyPose3D< Float > &	operator*= (const LegacyPose3D< Float_ > &pose)
	Transform this pose by the specified input pose.
template<enum Pose2DStorageType Storage_>
LegacyPose3D< Float > &	operator= (const LegacyPose2D< Float, Storage_ > &pose)
	Assign from another Pose2D instance.
LegacyPose3D< Float > &	operator= (const LegacyPose3D< Float > &pose)
	Assign from another Pose2D instance.
template<typename Float_ >
LegacyPose3D< Float >	relative (const LegacyPose3D< Float_ > &pose) const
	Relative pose between this pose and another.
void	rotation (const RotationMatrix &rotation)
	Set the rotational component.
RotationMatrix &	rotation ()
const RotationMatrix &	rotation () const
	Return a mutable handle to the translation vector.
RotationMatrix	rotationMatrix () const
	Return a const handle to the translation vector.
template<typename Trans >
void	translation (const ecl::linear_algebra::MatrixBase< Trans > &translation)
	Set the translation vector.
Translation &	translation ()
	Return a mutable handle to the rotational storage component.
const Translation &	translation () const
	Return a const handle to the rotational storage component.
virtual	~LegacyPose3D ()
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Float	Scalar
	Eigen style declaration of the element type.
Private Attributes
RotationMatrix	rot
Translation	trans
Friends
template<typename OutputStream , typename Float_ >
OutputStream &	operator<< (OutputStream &ostream, const LegacyPose3D< Float_ > &pose)
	Insertion operator for output streams.

Detailed Description

template<typename Float>
class ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >

Representation for a 3D pose (6 degrees of freedom).

This represents a transformation typical of that of an object in 3D, that is, it has 3 translational degrees of freedom and 3 rotational degrees of freedom. Default storage type for rotations is the rotation matrix. We may think about a quaternion storage type in the future.

Template Parameters:

Float : must be a float type (e.g. float, double, float32, float64)

Definition at line 60 of file legacy_pose3d.hpp.

Member Typedef Documentation

template<typename Float >

typedef ecl::linear_algebra::Matrix<Float,3,3> ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::RotationMatrix

The type used to represent rotation matrices.

Definition at line 71 of file legacy_pose3d.hpp.

template<typename Float >

typedef ecl::linear_algebra::Matrix<Float,3,1> ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::Translation

The type used to represent translations.

Definition at line 72 of file legacy_pose3d.hpp.

Constructor & Destructor Documentation

template<typename Float >

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D ( ) [inline]

Initialise with zero rotation and zero translation.

Definition at line 80 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Rot , typename Trans >

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D	(	const ecl::linear_algebra::EigenBase< Rot > &	rotation,
		const ecl::linear_algebra::EigenBase< Trans > &	translation
	)		`[inline]`

Initialise with rotation matrix and translation.

This accepts arbitrary eigen types to use as a rotation matrix and translation vector.

Parameters:

rotation	: 3x3 rotation matrix.
translation	: 3x1 translation vector (will compile error if incorrect size).

Template Parameters:

Rot	: any compatible eigen 3x3 matrix type (e.g. Matrix<Float,3,3>).
Trans	: any compatible eigen 3x1 matrix type (e.g. Matrix<Float,3,1>).

Definition at line 95 of file legacy_pose3d.hpp.

template<typename Float >

template<enum Pose2DStorageType Storage_>

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D ( const LegacyPose2D< Float, Storage_ > & pose ) [inline]

Initialise from a 2D pose.

Essentially converts the 2D pose to a 3D pose, note that any 2D pose object will do.

Parameters:

pose	: the 2d pose.

Definition at line 107 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Trans >

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D	(	const ecl::linear_algebra::AngleAxis< Float > &	angle_axis,
		const ecl::linear_algebra::MatrixBase< Trans > &	translation
	)		`[inline]`

Initialise from an eigen AngleAxis and a translation.

Parameters:

angle_axis	: a 3d vector and scalar angle object from eigen.
translation	: 3x1 translation vector (will compile error if incorrect size).

Template Parameters:

Trans : any compatible eigen 3x1 matrix type (e.g. Matrix<Float,3,1>).

Definition at line 123 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Trans >

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D	(	const ecl::linear_algebra::Quaternion< Float > &	quaternion,
		const ecl::linear_algebra::MatrixBase< Trans > &	translation
	)		`[inline]`

Initialise from an eigen Quaternion and a translation.

Parameters:

quaternion	: an eigen quaternion object.
translation	: 3x1 translation vector (will compile error if incorrect size).

Template Parameters:

Trans : any compatible eigen 3x1 matrix type (e.g. Matrix<Float,3,1>).

Definition at line 137 of file legacy_pose3d.hpp.

template<typename Float >

ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::LegacyPose3D ( const LegacyPose3D< Float > & pose ) [inline]

Copy constructor for 3d poses.

Parameters:

pose	: the pose to be copied.

Definition at line 146 of file legacy_pose3d.hpp.

template<typename Float >

virtual ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::~LegacyPose3D ( ) [inline, virtual]

Definition at line 151 of file legacy_pose3d.hpp.

Member Function Documentation

template<typename Float >

LegacyPose3D<Float> ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::inverse ( ) const [inline]

Calculate the inverse pose.

This calculates the reverse transformation between frames.

Returns:: Pose3D : the inverse pose with target and reference frames swapped.

Definition at line 240 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Float_ >

LegacyPose3D<Float> ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::operator* ( const LegacyPose3D< Float_ > & pose ) const [inline]

Combine this pose with the incoming pose.

Parameters:

pose	: differential (wrt this pose's frame).

Returns:: Pose3D<Float> : new instance representing the product of the poses.

Definition at line 252 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Float_ >

LegacyPose3D<Float>& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::operator*= ( const LegacyPose3D< Float_ > & pose ) [inline]

Transform this pose by the specified input pose.

Parameters:

pose	: a pose differential (wrt this pose's frame).

Returns:: Pose3D<Float>& : handle to the updated pose (wrt common/global frame).

Definition at line 265 of file legacy_pose3d.hpp.

template<typename Float >

template<enum Pose2DStorageType Storage_>

LegacyPose3D<Float>& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::operator= ( const LegacyPose2D< Float, Storage_ > & pose ) [inline]

Assign from another Pose2D instance.

Parameters:

pose	: another Pose2D, storage type is irrelevant.

Returns:: Pose2D<Float>& : reference handle to this object.

Definition at line 162 of file legacy_pose3d.hpp.

template<typename Float >

LegacyPose3D<Float>& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::operator= ( const LegacyPose3D< Float > & pose ) [inline]

Assign from another Pose2D instance.

Parameters:

pose	: another Pose2D, storage type is irrelevant.

Returns:: Pose2D<Float>& : reference handle to this object.

Definition at line 176 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Float_ >

LegacyPose3D<Float> ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::relative ( const LegacyPose3D< Float_ > & pose ) const [inline]

Relative pose between this pose and another.

Evaluates and returns the pose of this pose, relative to the specified pose.

Parameters:

pose	: reference frame for the relative pose.

Returns:: Pose3D<Float> : new instance representing the relative.

Definition at line 279 of file legacy_pose3d.hpp.

template<typename Float >

void ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::rotation ( const RotationMatrix & rotation ) [inline]

Set the rotational component.

This accepts a rotation matrix to set the rotational part of the pose.

Parameters:

rotation : input rotation to set.

Definition at line 191 of file legacy_pose3d.hpp.

template<typename Float >

RotationMatrix& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::rotation ( ) [inline]

Definition at line 217 of file legacy_pose3d.hpp.

template<typename Float >

const RotationMatrix& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::rotation ( ) const [inline]

Return a mutable handle to the translation vector.

>

Definition at line 219 of file legacy_pose3d.hpp.

template<typename Float >

RotationMatrix ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::rotationMatrix ( ) const [inline]

Return a const handle to the translation vector.

>Representation of the rotation in matrix form.

Definition at line 228 of file legacy_pose3d.hpp.

template<typename Float >

template<typename Trans >

void ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::translation ( const ecl::linear_algebra::MatrixBase< Trans > & translation ) [inline]

Set the translation vector.

This accepts an arbitrary eigen types to use as a translation vector. Eigen will emit the appropriate compile time error if it is incompatible.

Parameters:

translation : 3x1 translation vector.

Template Parameters:

Trans : any compatible eigen 3x1 matrix type (e.g. Matrix<Float,3,1>).

Definition at line 204 of file legacy_pose3d.hpp.

template<typename Float >

Translation& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::translation ( ) [inline]

Return a mutable handle to the rotational storage component.

>

Definition at line 218 of file legacy_pose3d.hpp.

template<typename Float >

const Translation& ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::translation ( ) const [inline]

Return a const handle to the rotational storage component.

>

Definition at line 220 of file legacy_pose3d.hpp.

Friends And Related Function Documentation

template<typename Float >

template<typename OutputStream , typename Float_ >

OutputStream& operator<<	(	OutputStream &	ostream,
		const LegacyPose3D< Float_ > &	pose
	)		`[friend]`

Insertion operator for output streams.

Note that the output heading angle is formatted in degrees.

Parameters:

ostream	: stream satisfying the ecl stream concept.
pose	: the inserted pose.

Returns:: OutputStream : the returning stream handle.

Definition at line 309 of file legacy_pose3d.hpp.

Member Data Documentation

template<typename Float >

RotationMatrix ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::rot [private]

Definition at line 292 of file legacy_pose3d.hpp.

template<typename Float >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Float ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::Scalar

Eigen style declaration of the element type.

Definition at line 70 of file legacy_pose3d.hpp.

template<typename Float >

Translation ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >::trans [private]

Definition at line 293 of file legacy_pose3d.hpp.

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

legacy_pose3d.hpp

Public Types

Public Member Functions

Public Attributes

Private Attributes

Friends

Detailed Description

template<typename Float> class ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename Float>
class ecl::LegacyPose3D< Float, enable_if< is_float< Float > >::type >