karto::Pose3 Class Reference

#include <Karto.h>

Public Member Functions
const Quaternion &	GetOrientation () const
const Vector3< kt_double > &	GetPosition () const
kt_bool	operator!= (const Pose3 &rOther) const
Pose3 &	operator= (const Pose3 &rOther)
kt_bool	operator== (const Pose3 &rOther) const
	Pose3 ()
	Pose3 (const Vector3< kt_double > &rPosition)
	Pose3 (const Vector3< kt_double > &rPosition, const karto::Quaternion &rOrientation)
	Pose3 (const Pose3 &rOther)
	Pose3 (const Pose2 &rPose)
void	SetOrientation (const Quaternion &rOrientation)
void	SetPosition (const Vector3< kt_double > &rPosition)
std::string	ToString ()

Private Attributes
Quaternion	m_Orientation
Vector3< kt_double >	m_Position

Friends
std::ostream &	operator<< (std::ostream &rStream, const Pose3 &rPose)
std::istream &	operator>> (std::istream &rStream, const Pose3 &)

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 2187 of file Karto.h.

Constructor & Destructor Documentation

karto::Pose3::Pose3 ( )

inline

Default constructor

Definition at line 2193 of file Karto.h.

karto::Pose3::Pose3 ( const Vector3< kt_double > &  rPosition )

inline

Create a new Pose3 object from the given position.

Parameters

rPosition

position vector in three space.

Definition at line 2201 of file Karto.h.

karto::Pose3::Pose3 ( const Vector3< kt_double > &  rPosition, const karto::Quaternion &  rOrientation  )

inline

Create a new Pose3 object from the given position and orientation.

Parameters

rPosition	position vector in three space.
rOrientation	quaternion orientation in three space.

Definition at line 2211 of file Karto.h.

karto::Pose3::Pose3 ( const Pose3 &  rOther )

inline

Copy constructor

Definition at line 2220 of file Karto.h.

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

inline

Constructs a Pose3 object from a Pose2.

Definition at line 2229 of file Karto.h.

Member Function Documentation

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

inline

Get the orientation quaternion of the pose as const.

Returns

orientation quaternion as const

Definition at line 2258 of file Karto.h.

const Vector3<kt_double>& karto::Pose3::GetPosition ( ) const

inline

Get the position of the pose as a 3D vector as const. Values have units of meters.

Returns

3-dimensional position vector as const

Definition at line 2240 of file Karto.h.

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

inline

Inequality operator

Definition at line 2309 of file Karto.h.

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

inline

Assignment operator

Definition at line 2290 of file Karto.h.

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

inline

Equality operator

Definition at line 2301 of file Karto.h.

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

inline

Get the orientation quaternion of the pose.

Returns

orientation quaternion

Definition at line 2267 of file Karto.h.

void karto::Pose3::SetPosition ( const Vector3< kt_double > &  rPosition )

inline

Set the position of the pose as a 3D vector. Values have units of meters.

Returns

3-dimensional position vector

Definition at line 2249 of file Karto.h.

std::string karto::Pose3::ToString ( )

inline

Returns a string representation of this pose

Returns

string representation of this pose

Definition at line 2276 of file Karto.h.

Friends And Related Function Documentation

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

friend

Write Pose3 onto output stream

Parameters

rStream	output stream
rPose	to write

Definition at line 2319 of file Karto.h.

std::istream& operator>> ( std::istream &  rStream, const Pose3 &    )

friend

Read Pose3 from input stream

Parameters

rStream

input stream

Definition at line 2329 of file Karto.h.

Member Data Documentation

Quaternion karto::Pose3::m_Orientation

private

Definition at line 2337 of file Karto.h.

Vector3<kt_double> karto::Pose3::m_Position

private

Definition at line 2336 of file Karto.h.

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

• Karto.h