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
#include <mrpt/otherlibs/octomap/math/Pose6D.h>
Public Member Functions | |
Pose6D () | |
~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... | |
Pose6D & | operator= (const Pose6D &other) |
bool | operator== (const Pose6D &other) const |
bool | operator!= (const Pose6D &other) const |
Vector3 & | trans () |
Translational component. More... | |
Quaternion & | rot () |
Rotational component. More... | |
const Vector3 & | trans () const |
Translational component. More... | |
const Quaternion & | rot () const |
Rotational component. More... | |
float & | x () |
float & | y () |
float & | z () |
const float & | x () const |
const float & | y () const |
const float & | z () const |
double | roll () const |
double | pitch () const |
double | yaw () const |
Vector3 | transform (const Vector3 &v) const |
Transformation of a vector. More... | |
Pose6D | inv () const |
Inversion. More... | |
Pose6D & | inv_IP () |
Inversion. More... | |
Pose6D | operator* (const Pose6D &p) const |
Concatenation. More... | |
const Pose6D & | operator*= (const Pose6D &p) |
In place concatenation. More... | |
double | distance (const Pose6D &other) const |
Translational distance. More... | |
double | transLength () const |
Translational length. More... | |
std::ostream & | write (std::ostream &s) const |
Output operator. More... | |
std::istream & | read (std::istream &s) |
Input operator. More... | |
std::ostream & | writeBinary (std::ostream &s) const |
Binary output operator. More... | |
std::istream & | readBinary (std::istream &s) |
Binary input operator. More... | |
Protected Attributes | |
Vector3 | translation |
Quaternion | rotation |
octomath::Pose6D::Pose6D | ( | ) |
octomath::Pose6D::~Pose6D | ( | ) |
octomath::Pose6D::Pose6D | ( | const Vector3 & | trans, |
const Quaternion & | rot | ||
) |
Constructor.
Constructs a pose from given translation and rotation.
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
double octomath::Pose6D::distance | ( | const Pose6D & | other | ) | const |
Translational distance.
Pose6D octomath::Pose6D::inv | ( | ) | const |
Inversion.
Inverts the coordinate transformation represented by this pose
Pose6D& octomath::Pose6D::inv_IP | ( | ) |
Inversion.
Inverts the coordinate transformation represented by this pose
bool octomath::Pose6D::operator!= | ( | const Pose6D & | other | ) | const |
Concatenation.
Concatenates the coordinate transformations represented by this and p.
In place concatenation.
Concatenates p to this Pose6D.
bool octomath::Pose6D::operator== | ( | const Pose6D & | other | ) | const |
std::istream& octomath::Pose6D::read | ( | std::istream & | s | ) |
Input operator.
Parsing from stream which was written by write().
std::istream& octomath::Pose6D::readBinary | ( | std::istream & | s | ) |
Binary input operator.
Parsing from binary stream which was written by writeBinary().
|
inline |
|
inline |
|
inline |
|
inline |
Transformation of a vector.
Transforms the vector v by the transformation which is specified by this.
double octomath::Pose6D::transLength | ( | ) | const |
Translational length.
std::ostream& octomath::Pose6D::write | ( | std::ostream & | s | ) | const |
Output operator.
Output to stream in a format which can be parsed using read().
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().
|
protected |
Page generated by Doxygen 1.8.9.1 for MRPT 1.3.2 SVN:Unversioned directory at Thu Dec 10 00:07:55 UTC 2015 |