karto::Pose3 Class Reference

#include <Geometry.h>

Public Member Functions
const Quaternion &	GetOrientation () const
const Vector3d &	GetPosition () const
kt_bool	operator!= (const Pose3 &rOther) const
Pose3 &	operator= (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

rPosition

vector

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

rPosition	position vector
rOrientation	quaternion 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

rPose

pose

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

rOrientation

orientation quaternion

Definition at line 2490 of file Geometry.h.

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

inline

Sets the position of this pose

Parameters

rPosition

new 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.

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

• Geometry.h