.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_math_Pose6D.h:

Program Listing for File Pose6D.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_math_Pose6D.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/math/Pose6D.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
    * https://octomap.github.io/
    *
    * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved.
    * License: New BSD
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the University of Freiburg nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef OCTOMATH_POSE6D_H
   #define OCTOMATH_POSE6D_H
   
   #include "Vector3.h"
   #include "Quaternion.h"
   
   namespace octomath {
   
     class Pose6D {
     public:
   
       Pose6D();
       ~Pose6D();
   
       Pose6D(const Vector3& trans, const Quaternion& rot);
   
       Pose6D(float x, float y, float z, double roll, double pitch, double yaw);
   
       Pose6D(const Pose6D& other);
       Pose6D& operator= (const Pose6D& other);
   
       bool operator==(const Pose6D& other) const;
       bool operator!=(const Pose6D& other) const;
   
       inline Vector3& trans() { return translation; }
       inline Quaternion& rot() { return rotation; }
       const Vector3& trans() const { return translation; }
       const Quaternion& rot() const { return rotation; }
   
   
       inline float& x() { return translation(0); }
       inline float& y() { return translation(1); }
       inline float& z() { return translation(2); }
       inline const float& x() const { return translation(0); }
       inline const float& y() const { return translation(1); }
       inline const float& z() const { return translation(2); }
   
       inline double roll()  const {return (rotation.toEuler())(0); }
       inline double pitch() const {return (rotation.toEuler())(1); }
       inline double yaw()   const {return (rotation.toEuler())(2); }
   
       Vector3 transform (const Vector3 &v) const;
   
       Pose6D inv() const;
   
       Pose6D& inv_IP();
   
       Pose6D operator* (const Pose6D &p) const;
       const Pose6D& operator*= (const Pose6D &p);
   
       double distance(const Pose6D &other) const;
   
       double transLength() const;
   
       std::ostream& write(std::ostream &s) const;
       std::istream& read(std::istream &s);
       std::ostream& writeBinary(std::ostream &s) const;
       std::istream& readBinary(std::istream &s);
   
     protected:
       Vector3 translation;
       Quaternion rotation;
     };
   
     std::ostream& operator<<(std::ostream& s, const Pose6D& p);
   
   }
   
   #endif