ResourcesForPsm::Pose Class Reference

#include <Pose.h>

Public Member Functions
void	convertPoseIntoFrame (const boost::shared_ptr< Pose > &pFrame, boost::shared_ptr< Pose > &pResult)
Eigen::Quaternion< double >	getOrientation ()
Eigen::Vector3d	getPosition ()
	Pose ()
	Pose (const asr_msgs::AsrObject pObject)
	Pose (const geometry_msgs::Pose pPose)
	Pose (const boost::shared_ptr< SceneModel::Object > pObject)
	~Pose ()

Private Attributes
boost::shared_ptr< Eigen::Quaternion< double > >	mOrientation
boost::shared_ptr< Eigen::Vector3d >	mPosition

Detailed Description

Class for storing object poses and performing pose related operations.

Author

Joachim Gehrung

Version

See SVN

Definition at line 44 of file Pose.h.

Constructor & Destructor Documentation

ResourcesForPsm::Pose::Pose

(

)

Constructor.

Definition at line 22 of file Pose.cpp.

ResourcesForPsm::Pose::Pose

(

const asr_msgs::AsrObject

pObject

)

Constructor.

Parameters

pObject

The AsrObject to acquire the pose from.

Definition at line 28 of file Pose.cpp.

ResourcesForPsm::Pose::Pose

(

const geometry_msgs::Pose

pPose

)

Constructor.

Parameters

pObject

The pose to convert.

Definition at line 49 of file Pose.cpp.

ResourcesForPsm::Pose::Pose

(

const boost::shared_ptr< SceneModel::Object >

pObject

)

Constructor.

Parameters

pObject

The object to acquire the pose from.

Definition at line 63 of file Pose.cpp.

ResourcesForPsm::Pose::~Pose

(

)

Destructor.

Definition at line 69 of file Pose.cpp.

Member Function Documentation

void ResourcesForPsm::Pose::convertPoseIntoFrame	(	const boost::shared_ptr< Pose > &	pFrame,
		boost::shared_ptr< Pose > &	pResult
	)

Converts the pose represented by pChild into a pose in the frame represented by pParent. The result is stored in pResult.

Parameters

pFrame	The frame to convert the pose into.
pResult	The result of the calculation.

Definition at line 73 of file Pose.cpp.

Eigen::Quaternion< double > ResourcesForPsm::Pose::getOrientation

(

)

Returns the orientation.

Definition at line 92 of file Pose.cpp.

Eigen::Vector3d ResourcesForPsm::Pose::getPosition

(

)

Returns the position.

Definition at line 87 of file Pose.cpp.

Member Data Documentation

boost::shared_ptr<Eigen::Quaternion<double> > ResourcesForPsm::Pose::mOrientation

private

The orientation part of the pose modelled as a quaternion.

Definition at line 106 of file Pose.h.

boost::shared_ptr<Eigen::Vector3d> ResourcesForPsm::Pose::mPosition

private

The position part of the pose, modelled in euclidian space.

Definition at line 101 of file Pose.h.

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

• Pose.h
• Pose.cpp