Class Pose

Defined in File types.h

Class Documentation

class Pose

A Cartesian pose (position and orientation) for a robot manipulator.

The position is represented by x, y, and z in meters, and the orientation is represented by AngleAxis rx, ry, and rz in radians.

The optional q_near member can be used to provide a hint to the solver for inverse kinematics when this pose is used as a Cartesian motion target over the trajectory interface.

Public Functions

Pose()

Pose(const double x, const double y, const double z, const double rx, const double ry, const double rz)

Pose(const double x, const double y, const double z, const double rx, const double ry, const double rz, const Q &q_near)

bool operator==(const Pose &other) const

const std::optional<Q> &getQNear() const

void setQNear(const Q &q_near)

void setPose(const double x, const double y, const double z, const double rx, const double ry, const double rz)

Public Members

double x

double y

double z

double rx

double ry

double rz