48 #ifndef OCTOMATH_POSE6D_H
49 #define OCTOMATH_POSE6D_H
84 Pose6D(
float x,
float y,
float z,
double roll,
double pitch,
double yaw);
115 inline float&
x() {
return translation(0); }
116 inline float&
y() {
return translation(1); }
117 inline float&
z() {
return translation(2); }
118 inline const float&
x()
const {
return translation(0); }
119 inline const float&
y()
const {
return translation(1); }
120 inline const float&
z()
const {
return translation(2); }
122 inline double roll()
const {
return (rotation.toEuler())(0); }
123 inline double pitch()
const {
return (rotation.toEuler())(1); }
124 inline double yaw()
const {
return (rotation.toEuler())(2); }
182 double transLength()
const;
189 std::ostream& write(std::ostream &s)
const;
195 std::istream& read(std::istream &s);
201 std::ostream& writeBinary(std::ostream &s)
const;
207 std::istream& readBinary(std::istream &s);
bool operator!=(const CArray< T, N > &x, const CArray< T, N > &y)
This class represents a tree-dimensional pose of an object.
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
std::ostream MAPS_IMPEXP & operator<<(std::ostream &s, const Pose6D &p)
user friendly output in format (x y z, u x y z) which is (translation, rotation)
const Vector3 & trans() const
Translational component.
const Quaternion & rot() const
Rotational component.
bool operator==(const CArray< T, N > &x, const CArray< T, N > &y)
EIGEN_STRONG_INLINE PlainObject inv() const
Quaternion & rot()
Rotational component.
This class represents a Quaternion.
std::vector< T1 > & operator*=(std::vector< T1 > &a, const std::vector< T2 > &b)
a*=b (element-wise multiplication)
Vector3 & trans()
Translational component.
std::vector< T1 > operator*(const std::vector< T1 > &a, const std::vector< T2 > &b)
a*b (element-wise multiplication)
double BASE_IMPEXP distance(const TPoint2D &p1, const TPoint2D &p2)
Gets the distance between two points in a 2D space.
This class represents a three-dimensional vector.