rail::spatial_temporal_learning::worldlib::geometry::Pose Class Reference

Position and orientation information. More...

#include <Pose.h>

List of all members.

Public Member Functions
const Orientation &	getOrientation () const
	Orientation value accessor (immutable).
Orientation &	getOrientation ()
	Orientation value accessor.
const Position &	getPosition () const
	Position value accessor (immutable).
Position &	getPosition ()
	Position value accessor.
	Pose (const Position &position=Position(), const Orientation &orientation=Orientation())
	Create a new Pose.
	Pose (const geometry_msgs::Pose &pose)
	Create a new Pose.
	Pose (const geometry_msgs::Transform &tf)
	Create a new Pose.
	Pose (const tf2::Transform &tf)
	Create a new Pose.
void	setOrientation (const Orientation &orientation)
	Orientation value mutator.
void	setPosition (const Position &position)
	Position value mutator.
geometry_msgs::Pose	toROSPoseMessage () const
geometry_msgs::Transform	toROSTransformMessage () const
tf2::Transform	toTF2Transform () const
Private Attributes
Orientation	orientation_
Position	position_

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Detailed Description

Position and orientation information.

A pose contains position and orientation information. This class is useful for internal data management within the worldlib library. Convenience functions are added for use with ROS messages.

Definition at line 40 of file Pose.h.

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Constructor & Destructor Documentation

Pose::Pose	(	const Position &	position = Position(),
		const Orientation &	orientation = Orientation()
	)

Create a new Pose.

Creates a new Pose with the given position and orientation.

Parameters:

position	The position values of this Pose (defaults are 0).
orientation	The orientation values of this Pose (defaults are a 0 rotation).

Definition at line 18 of file Pose.cpp.

Pose::Pose

(

const geometry_msgs::Pose &

pose

)

Create a new Pose.

Creates a new Pose with the pose data from the given ROS message.

Parameters:

pose	The ROS Pose message to extract position and orientation data from.

Definition at line 22 of file Pose.cpp.

Pose::Pose

(

const geometry_msgs::Transform &

tf

)

Create a new Pose.

Creates a new Pose with the data from the given ROS Transform message.

Parameters:

position

The ROS Transform message to extract position and orientation data from.

Definition at line 26 of file Pose.cpp.

Pose::Pose

(

const tf2::Transform &

tf

)

Create a new Pose.

Creates a new Pose with the data from the given ROS tf2 Transform.

Parameters:

position

The ROS tf2 Transform to extract position and orientation data from.

Definition at line 30 of file Pose.cpp.

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Member Function Documentation

const Orientation & Pose::getOrientation

(

)

const

Orientation value accessor (immutable).

Get the orientation value of this Pose.

Returns:

The orientation value.

Definition at line 54 of file Pose.cpp.

Orientation & Pose::getOrientation

(

)

Orientation value accessor.

Get the orientation value of this Pose.

Returns:

The orientation value.

Definition at line 59 of file Pose.cpp.

const Position & Pose::getPosition

(

)

const

Position value accessor (immutable).

Get the position value of this Pose.

Returns:

The position value.

Definition at line 39 of file Pose.cpp.

Position & Pose::getPosition

(

)

Position value accessor.

Get the position value of this Pose.

Returns:

The position value.

Definition at line 44 of file Pose.cpp.

void Pose::setOrientation

(

const Orientation &

orientation

)

Orientation value mutator.

Set the orientation value of this Pose.

Parameters:

orientation

The new orientation value.

Definition at line 49 of file Pose.cpp.

void Pose::setPosition

(

const Position &

position

)

Position value mutator.

Set the position value of this Pose.

Parameters:

position

The new position value.

Definition at line 34 of file Pose.cpp.

geometry_msgs::Pose Pose::toROSPoseMessage

(

)

const

Converts this Pose object into a ROS Pose message.

Returns:

The ROS Pose message with this pose data.

Definition at line 64 of file Pose.cpp.

geometry_msgs::Transform rail::spatial_temporal_learning::worldlib::geometry::Pose::toROSTransformMessage

(

)

const

Converts this Pose object into a ROS Transform message.

Returns:

The ROS Transform message with this positional data.

tf2::Transform Pose::toTF2Transform

(

)

const

Converts this Pose object into a ROS tf2 Transform.

Returns:

The ROS tf2 Transform with this positional data.

Definition at line 72 of file Pose.cpp.

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Member Data Documentation

Orientation rail::spatial_temporal_learning::worldlib::geometry::Pose::orientation_ [private]

Orientation data.

Definition at line 159 of file Pose.h.

Position rail::spatial_temporal_learning::worldlib::geometry::Pose::position_ [private]

Position data.

Definition at line 157 of file Pose.h.

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

• Pose.h
• Pose.cpp