karto::Pose3 Class Reference

#include <Geometry.h>

List of all members.

Public Member Functions
const Quaternion &	GetOrientation () const
const Vector3d &	GetPosition () const
kt_bool	operator!= (const Pose3 &rOther) const
Pose3 &	operator= (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
Friends
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.

Parameters:

rPosition

vector

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.

Parameters:

rPosition	position vector
rOrientation	quaternion 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.

Parameters:

rPose

pose

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

Returns:

orientation quaternion

Definition at line 2481 of file Geometry.h.

const Vector3d& karto::Pose3::GetPosition

(

)

const [inline]

Gets the position of this pose

Returns:

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

Parameters:

rOrientation

orientation quaternion

Definition at line 2490 of file Geometry.h.

void karto::Pose3::SetPosition

(

const Vector3d &

rPosition

)

[inline]

Sets the position of this pose

Parameters:

rPosition

new position

Definition at line 2472 of file Geometry.h.

const String karto::Pose3::ToString

(

)

const [inline]

Returns a string representation of this pose

Returns:

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

Quaternion karto::Pose3::m_Orientation [private]

Definition at line 2547 of file Geometry.h.

Vector3d karto::Pose3::m_Position [private]

Definition at line 2546 of file Geometry.h.

---

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

• Geometry.h