Orientation.h
Go to the documentation of this file.
00001 
00012 #ifndef RAIL_PICK_AND_PLACE_GRASPDB_ORIENTATION_H_
00013 #define RAIL_PICK_AND_PLACE_GRASPDB_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 // C++ Standard Library
00021 #include <string>
00022 
00023 namespace rail
00024 {
00025 namespace pick_and_place
00026 {
00027 namespace graspdb
00028 {
00029 
00037 class Orientation
00038 {
00039 public:
00050   Orientation(const double x = 0, const double y = 0, const double z = 0, const double w = 0);
00051 
00059   Orientation(const geometry_msgs::Quaternion &quaternion);
00060 
00068   Orientation(const tf2::Quaternion &quaternion);
00069 
00077   void setX(const double x);
00078 
00086   double getX() const;
00087 
00095   void setY(const double y);
00096 
00104   double getY() const;
00105 
00113   void setZ(const double z);
00114 
00122   double getZ() const;
00123 
00131   void setW(const double w);
00132 
00140   double getW() const;
00141 
00147   geometry_msgs::Quaternion toROSQuaternionMessage() const;
00148 
00154   tf2::Quaternion toTF2Quaternion() const;
00155 
00161   tf2::Matrix3x3 toTF2Matrix3x3() const;
00162 
00163 private:
00165   double x_, y_, z_, w_;
00166 };
00167 
00168 }
00169 }
00170 }
00171 
00172 #endif


graspdb
Author(s): Russell Toris
autogenerated on Sun Mar 6 2016 11:38:59