Class Pose6D
Defined in File Pose6D.h
Class Documentation
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class Pose6D
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
Public Functions
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Pose6D()
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~Pose6D()
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Pose6D(const Vector3 &trans, const Quaternion &rot)
Constructor.
Constructs a pose from given translation and rotation.
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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
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inline Quaternion &rot()
Rotational component.
- Returns:
the rotational component of this pose
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inline const Vector3 &trans() const
Translational component.
- Returns:
the translational component of this pose
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inline const Quaternion &rot() const
Rotational component.
- Returns:
the rotational component of this pose
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inline float &x()
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inline float &y()
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inline float &z()
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inline const float &x() const
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inline const float &y() const
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inline const float &z() const
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inline double roll() const
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inline double pitch() const
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inline double yaw() const
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Vector3 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.
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Pose6D inv() const
Inversion.
Inverts the coordinate transformation represented by this pose
- Returns:
a copy of this pose inverted
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Pose6D &inv_IP()
Inversion.
Inverts the coordinate transformation represented by this pose
- Returns:
a reference to this pose
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Pose6D operator*(const Pose6D &p) const
Concatenation.
Concatenates the coordinate transformations represented by this and p.
- Returns:
this * p (applies first this, then p)
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const 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
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double distance(const Pose6D &other) const
Translational distance.
- Returns:
the translational (euclidian) distance to p
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double transLength() const
Translational length.
- Returns:
the translational (euclidian) length of the translation vector of this Pose6D
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std::ostream &write(std::ostream &s) const
Output operator.
Output to stream in a format which can be parsed using read().
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std::istream &read(std::istream &s)
Input operator.
Parsing from stream which was written by write().
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std::ostream &writeBinary(std::ostream &s) const
Binary output operator.
Output to stream in a binary format which can be parsed using readBinary().
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std::istream &readBinary(std::istream &s)
Binary input operator.
Parsing from binary stream which was written by writeBinary().
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Pose6D()