Public Member Functions | Private Attributes | Friends | List of all members
karto::Pose3 Class Reference

#include <Karto.h>

Public Member Functions

const QuaternionGetOrientation () const
 
const Vector3< kt_double > & GetPosition () const
 
kt_bool operator!= (const Pose3 &rOther) const
 
Pose3operator= (const Pose3 &rOther)
 
kt_bool operator== (const Pose3 &rOther) const
 
 Pose3 ()
 
 Pose3 (const Vector3< kt_double > &rPosition)
 
 Pose3 (const Vector3< kt_double > &rPosition, const karto::Quaternion &rOrientation)
 
 Pose3 (const Pose3 &rOther)
 
 Pose3 (const Pose2 &rPose)
 
void SetOrientation (const Quaternion &rOrientation)
 
void SetPosition (const Vector3< kt_double > &rPosition)
 
std::string ToString ()
 

Private Attributes

Quaternion m_Orientation
 
Vector3< kt_doublem_Position
 

Friends

std::ostream & operator<< (std::ostream &rStream, const Pose3 &rPose)
 
std::istream & operator>> (std::istream &rStream, const Pose3 &)
 

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 2282 of file Karto.h.

Constructor & Destructor Documentation

◆ Pose3() [1/5]

karto::Pose3::Pose3 ( )
inline

Default constructor

Definition at line 2288 of file Karto.h.

◆ Pose3() [2/5]

karto::Pose3::Pose3 ( const Vector3< kt_double > &  rPosition)
inline

Create a new Pose3 object from the given position.

Parameters
rPositionposition vector in three space.

Definition at line 2296 of file Karto.h.

◆ Pose3() [3/5]

karto::Pose3::Pose3 ( const Vector3< kt_double > &  rPosition,
const karto::Quaternion rOrientation 
)
inline

Create a new Pose3 object from the given position and orientation.

Parameters
rPositionposition vector in three space.
rOrientationquaternion orientation in three space.

Definition at line 2306 of file Karto.h.

◆ Pose3() [4/5]

karto::Pose3::Pose3 ( const Pose3 rOther)
inline

Copy constructor

Definition at line 2315 of file Karto.h.

◆ Pose3() [5/5]

karto::Pose3::Pose3 ( const Pose2 rPose)
inline

Constructs a Pose3 object from a Pose2.

Definition at line 2324 of file Karto.h.

Member Function Documentation

◆ GetOrientation()

const Quaternion& karto::Pose3::GetOrientation ( ) const
inline

Get the orientation quaternion of the pose as const.

Returns
orientation quaternion as const

Definition at line 2353 of file Karto.h.

◆ GetPosition()

const Vector3<kt_double>& karto::Pose3::GetPosition ( ) const
inline

Get the position of the pose as a 3D vector as const. Values have units of meters.

Returns
3-dimensional position vector as const

Definition at line 2335 of file Karto.h.

◆ operator!=()

kt_bool karto::Pose3::operator!= ( const Pose3 rOther) const
inline

Inequality operator

Definition at line 2404 of file Karto.h.

◆ operator=()

Pose3& karto::Pose3::operator= ( const Pose3 rOther)
inline

Assignment operator

Definition at line 2385 of file Karto.h.

◆ operator==()

kt_bool karto::Pose3::operator== ( const Pose3 rOther) const
inline

Equality operator

Definition at line 2396 of file Karto.h.

◆ SetOrientation()

void karto::Pose3::SetOrientation ( const Quaternion rOrientation)
inline

Get the orientation quaternion of the pose.

Returns
orientation quaternion

Definition at line 2362 of file Karto.h.

◆ SetPosition()

void karto::Pose3::SetPosition ( const Vector3< kt_double > &  rPosition)
inline

Set the position of the pose as a 3D vector. Values have units of meters.

Returns
3-dimensional position vector

Definition at line 2344 of file Karto.h.

◆ ToString()

std::string karto::Pose3::ToString ( )
inline

Returns a string representation of this pose

Returns
string representation of this pose

Definition at line 2371 of file Karto.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  rStream,
const Pose3 rPose 
)
friend

Write Pose3 onto output stream

Parameters
rStreamoutput stream
rPoseto write

Definition at line 2414 of file Karto.h.

◆ operator>>

std::istream& operator>> ( std::istream &  rStream,
const Pose3  
)
friend

Read Pose3 from input stream

Parameters
rStreaminput stream

Definition at line 2424 of file Karto.h.

Member Data Documentation

◆ m_Orientation

Quaternion karto::Pose3::m_Orientation
private

Definition at line 2432 of file Karto.h.

◆ m_Position

Vector3<kt_double> karto::Pose3::m_Position
private

Definition at line 2431 of file Karto.h.


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


slam_toolbox
Author(s): Steve Macenski
autogenerated on Sat Oct 3 2020 03:51:02