Orientation.h
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00001 
00012 #ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_GEOMETRY_ORIENTATION_H_
00013 #define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_GEOMETRY_ORIENTATION_H_
00014 
00015 // ROS
00016 #include <geometry_msgs/Quaternion.h>
00017 #include <tf2/LinearMath/Matrix3x3.h>
00018 #include <tf2/LinearMath/Quaternion.h>
00019 
00020 namespace rail
00021 {
00022 namespace spatial_temporal_learning
00023 {
00024 namespace worldlib
00025 {
00026 namespace geometry
00027 {
00028 
00036 class Orientation
00037 {
00038 public:
00046   Orientation(const double theta = 0);
00047 
00058   Orientation(const double x, const double y, const double z, const double w);
00059 
00067   Orientation(const geometry_msgs::Quaternion &quaternion);
00068 
00076   Orientation(const tf2::Quaternion &quaternion);
00077 
00085   void setX(const double x);
00086 
00094   double getX() const;
00095 
00103   void setY(const double y);
00104 
00112   double getY() const;
00113 
00121   void setZ(const double z);
00122 
00130   double getZ() const;
00131 
00139   void setW(const double w);
00140 
00148   double getW() const;
00149 
00157   double getTheta() const;
00158 
00164   geometry_msgs::Quaternion toROSQuaternionMessage() const;
00165 
00171   tf2::Quaternion toTF2Quaternion() const;
00172 
00178   tf2::Matrix3x3 toTF2Matrix3x3() const;
00179 
00180 private:
00182   double x_, y_, z_, w_;
00183 };
00184 
00185 }
00186 }
00187 }
00188 }
00189 
00190 #endif


worldlib
Author(s): Russell Toris
autogenerated on Thu Jun 6 2019 20:55:36