This class represents a tree-dimensional pose of an object. More...
#include <Pose6D.h>
Public Member Functions | |
| double | distance (const Pose6D &other) const |
| Translational distance. | |
| Pose6D | inv () const |
| Inversion. | |
| Pose6D & | inv_IP () |
| Inversion. | |
| bool | operator!= (const Pose6D &other) const |
| Pose6D | operator* (const Pose6D &p) const |
| Concatenation. | |
| const Pose6D & | operator*= (const Pose6D &p) |
| In place concatenation. | |
| Pose6D & | operator= (const Pose6D &other) |
| bool | operator== (const Pose6D &other) const |
| double | pitch () const |
| Pose6D () | |
| Pose6D (const Vector3 &trans, const Quaternion &rot) | |
| Constructor. | |
| Pose6D (float x, float y, float z, double roll, double pitch, double yaw) | |
| Constructor. | |
| std::istream & | read (std::istream &s) |
| Input operator. | |
| std::istream & | readBinary (std::istream &s) |
| Binary input operator. | |
| double | roll () const |
| Quaternion & | rot () |
| Rotational component. | |
| const Quaternion & | rot () const |
| Rotational component. | |
| Vector3 & | trans () |
| Translational component. | |
| const Vector3 & | trans () const |
| Translational component. | |
| Vector3 | transform (const Vector3 &v) const |
| Transformation of a vector. | |
| double | transLength () const |
| Translational length. | |
| std::ostream & | write (std::ostream &s) const |
| Output operator. | |
| std::ostream & | writeBinary (std::ostream &s) const |
| Binary output operator. | |
| float & | x () |
| const float & | x () const |
| float & | y () |
| const float & | y () const |
| double | yaw () const |
| float & | z () |
| const float & | z () const |
| ~Pose6D () | |
Protected Attributes | |
| Quaternion | rotation |
| Vector3 | translation |
This class represents a tree-dimensional pose of an object.
The tree-dimensional pose is represented by a three-dimensional translation vector representing the position of the object and a Quaternion representing the attitude of the object
Definition at line 39 of file Pose6D.cpp.
Definition at line 55 of file Pose6D.cpp.
| octomath::Pose6D::Pose6D | ( | const Vector3 & | trans, |
| const Quaternion & | rot | ||
| ) |
Constructor.
Constructs a pose from given translation and rotation.
Definition at line 43 of file Pose6D.cpp.
| octomath::Pose6D::Pose6D | ( | float | x, |
| float | y, | ||
| float | z, | ||
| double | roll, | ||
| double | pitch, | ||
| double | yaw | ||
| ) |
Constructor.
Constructs a pose from a translation represented by its x, y, z-values and a rotation represented by its Tait-Bryan angles roll, pitch, and yaw
Definition at line 50 of file Pose6D.cpp.
| double octomath::Pose6D::distance | ( | const Pose6D & | other | ) | const |
Translational distance.
Definition at line 98 of file Pose6D.cpp.
| Pose6D octomath::Pose6D::inv | ( | ) | const |
Inversion.
Inverts the coordinate transformation represented by this pose
Definition at line 65 of file Pose6D.cpp.
Inversion.
Inverts the coordinate transformation represented by this pose
Definition at line 73 of file Pose6D.cpp.
| bool octomath::Pose6D::operator!= | ( | const Pose6D & | other | ) | const |
Definition at line 115 of file Pose6D.cpp.
Concatenation.
Concatenates the coordinate transformations represented by this and p.
Definition at line 86 of file Pose6D.cpp.
In place concatenation.
Concatenates p to this Pose6D.
Definition at line 92 of file Pose6D.cpp.
Definition at line 58 of file Pose6D.cpp.
| bool octomath::Pose6D::operator== | ( | const Pose6D & | other | ) | const |
Definition at line 110 of file Pose6D.cpp.
| double octomath::Pose6D::pitch | ( | ) | const [inline] |
| std::istream & octomath::Pose6D::read | ( | std::istream & | s | ) |
Input operator.
Parsing from stream which was written by write().
Definition at line 119 of file Pose6D.cpp.
| std::istream & octomath::Pose6D::readBinary | ( | std::istream & | s | ) |
Binary input operator.
Parsing from binary stream which was written by writeBinary().
Definition at line 134 of file Pose6D.cpp.
| double octomath::Pose6D::roll | ( | ) | const [inline] |
| Quaternion& octomath::Pose6D::rot | ( | ) | [inline] |
| const Quaternion& octomath::Pose6D::rot | ( | ) | const [inline] |
| Vector3& octomath::Pose6D::trans | ( | ) | [inline] |
| const Vector3& octomath::Pose6D::trans | ( | ) | const [inline] |
| Vector3 octomath::Pose6D::transform | ( | const Vector3 & | v | ) | const |
Transformation of a vector.
Transforms the vector v by the transformation which is specified by this.
Definition at line 80 of file Pose6D.cpp.
| double octomath::Pose6D::transLength | ( | ) | const |
Translational length.
Definition at line 105 of file Pose6D.cpp.
| std::ostream & octomath::Pose6D::write | ( | std::ostream & | s | ) | const |
Output operator.
Output to stream in a format which can be parsed using read().
Definition at line 126 of file Pose6D.cpp.
| std::ostream & octomath::Pose6D::writeBinary | ( | std::ostream & | s | ) | const |
Binary output operator.
Output to stream in a binary format which can be parsed using readBinary().
Definition at line 141 of file Pose6D.cpp.
| float& octomath::Pose6D::x | ( | ) | [inline] |
| const float& octomath::Pose6D::x | ( | ) | const [inline] |
| float& octomath::Pose6D::y | ( | ) | [inline] |
| const float& octomath::Pose6D::y | ( | ) | const [inline] |
| double octomath::Pose6D::yaw | ( | ) | const [inline] |
| float& octomath::Pose6D::z | ( | ) | [inline] |
| const float& octomath::Pose6D::z | ( | ) | const [inline] |
Quaternion octomath::Pose6D::rotation [protected] |
Vector3 octomath::Pose6D::translation [protected] |