This class represents a tree-dimensional pose of an object. More...

#include <Pose6D.h>

Public Member Functions
double	distance (const Pose6D &other) const
	Translational distance. More...

Pose6D	inv () const
	Inversion. More...

Pose6D &	inv_IP ()
	Inversion. More...

bool	operator!= (const Pose6D &other) const

Pose6D	operator* (const Pose6D &p) const
	Concatenation. More...

const Pose6D &	operator*= (const Pose6D &p)
	In place concatenation. More...

Pose6D &	operator= (const Pose6D &other)

bool	operator== (const Pose6D &other) const

double	pitch () const

	Pose6D ()

	Pose6D (const Vector3 &trans, const Quaternion &rot)
	Constructor. More...

	Pose6D (float x, float y, float z, double roll, double pitch, double yaw)
	Constructor. More...

std::istream &	read (std::istream &s)
	Input operator. More...

std::istream &	readBinary (std::istream &s)
	Binary input operator. More...

double	roll () const

Quaternion &	rot ()
	Rotational component. More...

const Quaternion &	rot () const
	Rotational component. More...

Vector3 &	trans ()
	Translational component. More...

const Vector3 &	trans () const
	Translational component. More...

Vector3	transform (const Vector3 &v) const
	Transformation of a vector. More...

double	transLength () const
	Translational length. More...

std::ostream &	write (std::ostream &s) const
	Output operator. More...

std::ostream &	writeBinary (std::ostream &s) const
	Binary output operator. More...

float &	x ()

const float &	x () const

float &	y ()

const float &	y () const

double	yaw () const

float &	z ()

const float &	z () const

	~Pose6D ()

Protected Attributes
Quaternion	rotation

Vector3	translation

Detailed Description

This class represents a tree-dimensional pose of an object.

The tree-dimensional pose is represented by a three-dimensional translation vector representing the position of the object and a Quaternion representing the attitude of the object

Definition at line 49 of file Pose6D.h.

Constructor & Destructor Documentation

octomath::Pose6D::Pose6D ( )

Definition at line 39 of file Pose6D.cpp.

octomath::Pose6D::~Pose6D ( )

Definition at line 55 of file Pose6D.cpp.

octomath::Pose6D::Pose6D	(	const Vector3 &	trans,
		const Quaternion &	rot
	)

Constructor.

Constructs a pose from given translation and rotation.

Definition at line 43 of file Pose6D.cpp.

octomath::Pose6D::Pose6D	(	float	x,
		float	y,
		float	z,
		double	roll,
		double	pitch,
		double	yaw
	)

Constructor.

Constructs a pose from a translation represented by its x, y, z-values and a rotation represented by its Tait-Bryan angles roll, pitch, and yaw

Definition at line 50 of file Pose6D.cpp.

Member Function Documentation

double octomath::Pose6D::distance ( const Pose6D & other ) const

Translational distance.

Returns: the translational (euclidian) distance to p

Definition at line 98 of file Pose6D.cpp.

Pose6D octomath::Pose6D::inv ( ) const

Inversion.

Inverts the coordinate transformation represented by this pose

Returns: a copy of this pose inverted

Definition at line 65 of file Pose6D.cpp.

Pose6D & octomath::Pose6D::inv_IP ( )

Inversion.

Inverts the coordinate transformation represented by this pose

Returns: a reference to this pose

Definition at line 73 of file Pose6D.cpp.

bool octomath::Pose6D::operator!= ( const Pose6D & other ) const

Definition at line 115 of file Pose6D.cpp.

Pose6D octomath::Pose6D::operator* ( const Pose6D & p ) const

Concatenation.

Concatenates the coordinate transformations represented by this and p.

Returns: this * p (applies first this, then p)

Definition at line 86 of file Pose6D.cpp.

const Pose6D & octomath::Pose6D::operator*= ( const Pose6D & p )

In place concatenation.

Concatenates p to this Pose6D.

Returns: this which results from first moving by this and afterwards by p

Definition at line 92 of file Pose6D.cpp.

Pose6D & octomath::Pose6D::operator= ( const Pose6D & other )

Definition at line 58 of file Pose6D.cpp.

bool octomath::Pose6D::operator== ( const Pose6D & other ) const

Definition at line 110 of file Pose6D.cpp.

double octomath::Pose6D::pitch ( ) const

inline

Definition at line 108 of file Pose6D.h.

std::istream & octomath::Pose6D::read ( std::istream & s )

Input operator.

Parsing from stream which was written by write().

Definition at line 119 of file Pose6D.cpp.

std::istream & octomath::Pose6D::readBinary ( std::istream & s )

Binary input operator.

Parsing from binary stream which was written by writeBinary().

Definition at line 134 of file Pose6D.cpp.

double octomath::Pose6D::roll ( ) const

inline

Definition at line 107 of file Pose6D.h.

Quaternion& octomath::Pose6D::rot ( )

inline

Rotational component.

Returns: the rotational component of this pose

Definition at line 86 of file Pose6D.h.

const Quaternion& octomath::Pose6D::rot ( ) const

inline

Rotational component.

Returns: the rotational component of this pose

Definition at line 97 of file Pose6D.h.

Vector3& octomath::Pose6D::trans ( )

inline

Translational component.

Returns: the translational component of this pose

Definition at line 80 of file Pose6D.h.

const Vector3& octomath::Pose6D::trans ( ) const

inline

Translational component.

Returns: the translational component of this pose

Definition at line 92 of file Pose6D.h.

Vector3 octomath::Pose6D::transform ( const Vector3 & v ) const

Transformation of a vector.

Transforms the vector v by the transformation which is specified by this.

Returns: the vector which is translated by the translation of this and afterwards rotated by the rotation of this.

Definition at line 80 of file Pose6D.cpp.

double octomath::Pose6D::transLength ( ) const

Translational length.

Returns: the translational (euclidian) length of the translation vector of this Pose6D

Definition at line 105 of file Pose6D.cpp.

std::ostream & octomath::Pose6D::write ( std::ostream & s ) const

Output operator.

Output to stream in a format which can be parsed using read().

Definition at line 126 of file Pose6D.cpp.

std::ostream & octomath::Pose6D::writeBinary ( std::ostream & s ) const

Binary output operator.

Output to stream in a binary format which can be parsed using readBinary().

Definition at line 141 of file Pose6D.cpp.

float& octomath::Pose6D::x ( )

inline

Definition at line 100 of file Pose6D.h.

const float& octomath::Pose6D::x ( ) const

inline

Definition at line 103 of file Pose6D.h.

float& octomath::Pose6D::y ( )

inline

Definition at line 101 of file Pose6D.h.

const float& octomath::Pose6D::y ( ) const

inline

Definition at line 104 of file Pose6D.h.

double octomath::Pose6D::yaw ( ) const

inline

Definition at line 109 of file Pose6D.h.

float& octomath::Pose6D::z ( )

inline

Definition at line 102 of file Pose6D.h.

const float& octomath::Pose6D::z ( ) const

inline

Definition at line 105 of file Pose6D.h.

Member Data Documentation

Quaternion octomath::Pose6D::rotation

protected

Definition at line 196 of file Pose6D.h.

Vector3 octomath::Pose6D::translation

protected

Definition at line 195 of file Pose6D.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation