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

#include <Geometry.h>

Public Member Functions

const QuaternionGetOrientation () const
 
const Vector3dGetPosition () const
 
kt_bool operator!= (const Pose3 &rOther) const
 
Pose3operator= (const Pose3 &rOther)
 
kt_bool operator== (const Pose3 &rOther) const
 
 Pose3 ()
 
 Pose3 (const Vector3d &rPosition)
 
 Pose3 (const Vector3d &rPosition, const karto::Quaternion &rOrientation)
 
 Pose3 (const Pose3 &rOther)
 
 Pose3 (const Pose2 &rPose)
 
void SetOrientation (const Quaternion &rOrientation)
 
void SetPosition (const Vector3d &rPosition)
 
const String ToString () const
 

Private Attributes

Quaternion m_Orientation
 
Vector3d m_Position
 

Friends

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

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 2409 of file Geometry.h.

Constructor & Destructor Documentation

karto::Pose3::Pose3 ( )
inline

Pose at the origin and quaternion with components (0, 0, 0, 1)

Definition at line 2415 of file Geometry.h.

karto::Pose3::Pose3 ( const Vector3d rPosition)
inline

Pose object at the given position.

Parameters
rPositionvector

Definition at line 2423 of file Geometry.h.

karto::Pose3::Pose3 ( const Vector3d rPosition,
const karto::Quaternion rOrientation 
)
inline

Pose at the given position and orientation.

Parameters
rPositionposition vector
rOrientationquaternion orientation

Definition at line 2433 of file Geometry.h.

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

Copy constructor

Definition at line 2442 of file Geometry.h.

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

Constructs a pose object from a Pose2.

Parameters
rPosepose

Definition at line 2452 of file Geometry.h.

Member Function Documentation

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

Gets the orientation quaternion of this pose

Returns
orientation quaternion

Definition at line 2481 of file Geometry.h.

const Vector3d& karto::Pose3::GetPosition ( ) const
inline

Gets the position of this pose

Returns
position of this pose

Definition at line 2463 of file Geometry.h.

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

Inequality operator

Definition at line 2531 of file Geometry.h.

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

Assignment operator

Definition at line 2512 of file Geometry.h.

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

Equality operator

Definition at line 2523 of file Geometry.h.

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

Sets the orientation quaternion of this pose

Parameters
rOrientationorientation quaternion

Definition at line 2490 of file Geometry.h.

void karto::Pose3::SetPosition ( const Vector3d rPosition)
inline

Sets the position of this pose

Parameters
rPositionnew position

Definition at line 2472 of file Geometry.h.

const String karto::Pose3::ToString ( ) const
inline

Returns a string representation of this pose

Returns
string representation of this pose

Definition at line 2499 of file Geometry.h.

Friends And Related Function Documentation

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

Write pose onto output stream

Definition at line 2539 of file Geometry.h.

Member Data Documentation

Quaternion karto::Pose3::m_Orientation
private

Definition at line 2547 of file Geometry.h.

Vector3d karto::Pose3::m_Position
private

Definition at line 2546 of file Geometry.h.


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


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Tue Nov 7 2017 06:02:36