#include <Karto.h>
Public Member Functions | |
const Quaternion & | GetOrientation () const |
const Vector3< kt_double > & | GetPosition () const |
kt_bool | operator!= (const Pose3 &rOther) const |
Pose3 & | operator= (const Pose3 &rOther) |
kt_bool | operator== (const Pose3 &rOther) const |
Pose3 () | |
Pose3 (const Pose2 &rPose) | |
Pose3 (const Pose3 &rOther) | |
Pose3 (const Vector3< kt_double > &rPosition) | |
Pose3 (const Vector3< kt_double > &rPosition, const karto::Quaternion &rOrientation) | |
void | SetOrientation (const Quaternion &rOrientation) |
void | SetPosition (const Vector3< kt_double > &rPosition) |
std::string | ToString () |
Private Attributes | |
Quaternion | m_Orientation |
Vector3< kt_double > | m_Position |
Friends | |
std::ostream & | operator<< (std::ostream &rStream, const Pose3 &rPose) |
std::istream & | operator>> (std::istream &rStream, const Pose3 &) |
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.
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