rail::pick_and_place::graspdb::Orientation Class Reference

Quaternion orientation information. More...

#include <Orientation.h>

List of all members.

Public Member Functions
double	getW () const
	W value accessor.
double	getX () const
	X value accessor.
double	getY () const
	Y value accessor.
double	getZ () const
	Z value accessor.
	Orientation (const double x=0, const double y=0, const double z=0, const double w=0)
	Create a new Orientation.
	Orientation (const geometry_msgs::Quaternion &quaternion)
	Create a new Orientation.
	Orientation (const tf2::Quaternion &quaternion)
	Create a new Orientation.
void	setW (const double w)
	W value mutator.
void	setX (const double x)
	X value mutator.
void	setY (const double y)
	Y value mutator.
void	setZ (const double z)
	Z value mutator.
geometry_msgs::Quaternion	toROSQuaternionMessage () const
tf2::Matrix3x3	toTF2Matrix3x3 () const
tf2::Quaternion	toTF2Quaternion () const
Private Attributes
double	w_
double	x_
double	y_
double	z_

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Detailed Description

Quaternion orientation information.

An orientation simply contains x, y, z, and w values. This class is useful for internal data management within the graspdb library. Convenience functions are added for use with ROS messages.

Definition at line 37 of file Orientation.h.

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Constructor & Destructor Documentation

Orientation::Orientation	(	const double	x = 0,
		const double	y = 0,
		const double	z = 0,
		const double	w = 0
	)

Create a new Orientation.

Creates a new Orientation with the given x, y, z, and w values (defaults are 0).

Parameters:

x	The x value (default of 0).
y	The y value (default of 0).
z	The z value (default of 0).
w	The w value (default of 0).

Definition at line 18 of file Orientation.cpp.

Orientation::Orientation

(

const geometry_msgs::Quaternion &

quaternion

)

Create a new Orientation.

Creates a new Orientation with the given x, y, z, and w values from the ROS Quaternion message.

Parameters:

point

The ROS Quaternion message to extract values from.

Definition at line 27 of file Orientation.cpp.

Orientation::Orientation

(

const tf2::Quaternion &

quaternion

)

Create a new Orientation.

Creates a new Orientation with the given x, y, z, and w values from the ROS tf2 Quaternion.

Parameters:

point

The ROS tf2 Quaternion to extract values from.

Definition at line 36 of file Orientation.cpp.

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Member Function Documentation

double Orientation::getW

(

)

const

W value accessor.

Get the w value of this Position.

Returns:

The w value.

Definition at line 80 of file Orientation.cpp.

double Orientation::getX

(

)

const

X value accessor.

Get the x value of this Position.

Returns:

The x value.

Definition at line 50 of file Orientation.cpp.

double Orientation::getY

(

)

const

Y value accessor.

Get the y value of this Position.

Returns:

The y value.

Definition at line 60 of file Orientation.cpp.

double Orientation::getZ

(

)

const

Z value accessor.

Get the z value of this Position.

Returns:

The z value.

Definition at line 70 of file Orientation.cpp.

void Orientation::setW

(

const double

w

)

W value mutator.

Set the w value of this Position.

Parameters:

w	The new w value.

Definition at line 75 of file Orientation.cpp.

void Orientation::setX

(

const double

x

)

X value mutator.

Set the x value of this Position.

Parameters:

x	The new x value.

Definition at line 45 of file Orientation.cpp.

void Orientation::setY

(

const double

y

)

Y value mutator.

Set the y value of this Position.

Parameters:

y	The new y value.

Definition at line 55 of file Orientation.cpp.

void Orientation::setZ

(

const double

z

)

Z value mutator.

Set the z value of this Position.

Parameters:

z	The new z value.

Definition at line 65 of file Orientation.cpp.

geometry_msgs::Quaternion Orientation::toROSQuaternionMessage

(

)

const

Converts this Orientation object into a ROS Quaternion message.

Returns:

The ROS Quaternion message with this orientation data.

Definition at line 85 of file Orientation.cpp.

tf2::Matrix3x3 Orientation::toTF2Matrix3x3

(

)

const

Converts this Orientation object into a ROS tf2 Matrix3x3.

Returns:

The ROS tf2 Matrix3x3 with this orientation data.

Definition at line 101 of file Orientation.cpp.

tf2::Quaternion Orientation::toTF2Quaternion

(

)

const

Converts this Orientation object into a ROS tf2 Quaternion.

Returns:

The ROS tf2 Quaternion with this orientation data.

Definition at line 95 of file Orientation.cpp.

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Member Data Documentation

double rail::pick_and_place::graspdb::Orientation::w_ [private]

Definition at line 165 of file Orientation.h.

double rail::pick_and_place::graspdb::Orientation::x_ [private]

Members to hold values.

Definition at line 165 of file Orientation.h.

double rail::pick_and_place::graspdb::Orientation::y_ [private]

Definition at line 165 of file Orientation.h.

double rail::pick_and_place::graspdb::Orientation::z_ [private]

Definition at line 165 of file Orientation.h.

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

• Orientation.h
• Orientation.cpp