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octomath::Pose6D Class Reference

Detailed Description

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

Definition at line 64 of file Pose6D.h.

#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...
 
Pose6Doperator= (const Pose6D &other)
 
bool operator== (const Pose6D &other) const
 
bool operator!= (const Pose6D &other) const
 
Vector3trans ()
 Translational component. More...
 
Quaternionrot ()
 Rotational component. More...
 
const Vector3trans () const
 Translational component. More...
 
const Quaternionrot () 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...
 
Pose6Dinv_IP ()
 Inversion. More...
 
Pose6D operator* (const Pose6D &p) const
 Concatenation. More...
 
const Pose6Doperator*= (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
 

Constructor & Destructor Documentation

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

Member Function Documentation

double octomath::Pose6D::distance ( const Pose6D other) const

Translational distance.

Returns
the translational (euclidian) distance to p
Pose6D octomath::Pose6D::inv ( ) const

Inversion.

Inverts the coordinate transformation represented by this pose

Returns
a copy of this pose inverted
Pose6D& octomath::Pose6D::inv_IP ( )

Inversion.

Inverts the coordinate transformation represented by this pose

Returns
a reference to this pose
bool octomath::Pose6D::operator!= ( const Pose6D other) const
Pose6D octomath::Pose6D::operator* ( const Pose6D p) const

Concatenation.

Concatenates the coordinate transformations represented by this and p.

Returns
this * p (applies first this, then p)
const Pose6D& octomath::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
Pose6D& octomath::Pose6D::operator= ( const Pose6D other)
bool octomath::Pose6D::operator== ( const Pose6D other) const
double octomath::Pose6D::pitch ( ) const
inline

Definition at line 123 of file Pose6D.h.

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().

double octomath::Pose6D::roll ( ) const
inline

Definition at line 122 of file Pose6D.h.

Quaternion& octomath::Pose6D::rot ( )
inline

Rotational component.

Returns
the rotational component of this pose

Definition at line 101 of file Pose6D.h.

const Quaternion& octomath::Pose6D::rot ( ) const
inline

Rotational component.

Returns
the rotational component of this pose

Definition at line 112 of file Pose6D.h.

Vector3& octomath::Pose6D::trans ( )
inline

Translational component.

Returns
the translational component of this pose

Definition at line 95 of file Pose6D.h.

const Vector3& octomath::Pose6D::trans ( ) const
inline

Translational component.

Returns
the translational component of this pose

Definition at line 107 of file Pose6D.h.

Vector3 octomath::Pose6D::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.
double octomath::Pose6D::transLength ( ) const

Translational length.

Returns
the translational (euclidian) length of the translation vector of this Pose6D
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().

float& octomath::Pose6D::x ( )
inline

Definition at line 115 of file Pose6D.h.

const float& octomath::Pose6D::x ( ) const
inline

Definition at line 118 of file Pose6D.h.

float& octomath::Pose6D::y ( )
inline

Definition at line 116 of file Pose6D.h.

const float& octomath::Pose6D::y ( ) const
inline

Definition at line 119 of file Pose6D.h.

double octomath::Pose6D::yaw ( ) const
inline
float& octomath::Pose6D::z ( )
inline

Definition at line 117 of file Pose6D.h.

const float& octomath::Pose6D::z ( ) const
inline

Definition at line 120 of file Pose6D.h.

Member Data Documentation

Quaternion octomath::Pose6D::rotation
protected

Definition at line 211 of file Pose6D.h.

Vector3 octomath::Pose6D::translation
protected

Definition at line 210 of file Pose6D.h.




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