Public Member Functions | Private Attributes | Friends
karto::Pose3 Class Reference

#include <Geometry.h>

List of all members.

Public Member Functions

const QuaternionGetOrientation () const
const Vector3dGetPosition () const
kt_bool operator!= (const Pose3 &rOther) const
Pose3operator= (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


KARTO_FORCEINLINE std::ostream & operator<< (std::ostream &rStream, const Pose3 &rPose)

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 2409 of file Geometry.h.

Constructor & Destructor Documentation

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.


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.

rPositionposition vector
rOrientationquaternion 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.


Definition at line 2452 of file Geometry.h.

Member Function Documentation

const Quaternion& karto::Pose3::GetOrientation ( ) const [inline]

Gets the orientation quaternion of this pose

orientation quaternion

Definition at line 2481 of file Geometry.h.

const Vector3d& karto::Pose3::GetPosition ( ) const [inline]

Gets the position of this pose

position of this pose

Definition at line 2463 of file Geometry.h.

kt_bool karto::Pose3::operator!= ( const Pose3 rOther) const [inline]

Inequality operator

Definition at line 2531 of file Geometry.h.

Pose3& karto::Pose3::operator= ( const Pose3 rOther) [inline]

Assignment operator

Definition at line 2512 of file Geometry.h.

kt_bool karto::Pose3::operator== ( const Pose3 rOther) const [inline]

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

rOrientationorientation quaternion

Definition at line 2490 of file Geometry.h.

void karto::Pose3::SetPosition ( const Vector3d rPosition) [inline]

Sets the position of this pose

rPositionnew position

Definition at line 2472 of file Geometry.h.

const String karto::Pose3::ToString ( ) const [inline]

Returns a string representation of this pose

string representation of this pose

Definition at line 2499 of file Geometry.h.

Friends And Related Function Documentation

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.

Member Data Documentation

Definition at line 2547 of file Geometry.h.

Definition at line 2546 of file Geometry.h.

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

Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 03:53:09