Encapsulates a position and rotation in three space. More...

#include <math/gzmath.hh>

Collaboration diagram for gazebo::math::Pose:

Public Member Functions
	Pose ()
	Default constructors. More...

	Pose (const Vector3 &_pos, const Quaternion &_rot)
	Constructor. More...

	Pose (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Constructor. More...

	Pose (const Pose &_pose)
	Copy constructor. More...

virtual	~Pose ()
	Destructor. More...

Pose	CoordPoseSolve (const Pose &_b) const
	Find the inverse of a pose; i.e., if b = this + a, given b and this, find a. More...

Vector3	CoordPositionAdd (const Vector3 &_pos) const
	Add one point to a vector: result = this + pos. More...

Vector3	CoordPositionAdd (const Pose &_pose) const
	Add one point to another: result = this + pose. More...

Vector3	CoordPositionSub (const Pose &_pose) const
	Subtract one position from another: result = this - pose. More...

Quaternion	CoordRotationAdd (const Quaternion &_rot) const
	Add one rotation to another: result = this->rot + rot. More...

Quaternion	CoordRotationSub (const Quaternion &_rot) const
	Subtract one rotation from another: result = this->rot - rot. More...

void	Correct ()
	Fix any nan values. More...

Pose	GetInverse () const
	Get the inverse of this pose. More...

bool	IsFinite () const
	See if a pose is finite (e.g., not nan) More...

bool	operator!= (const Pose &_pose) const
	Inequality operator. More...

Pose	operator* (const Pose &_pose)
	Multiplication operator. More...

Pose	operator+ (const Pose &_pose) const
	Addition operator A is the transform from O to P specified in frame O B is the transform from P to Q specified in frame P then, B + A is the transform from O to Q specified in frame O. More...

const Pose &	operator+= (const Pose &_pose)
	Add-Equals operator. More...

Pose	operator- () const
	Negation operator A is the transform from O to P in frame O then -A is transform from P to O specified in frame P. More...

Pose	operator- (const Pose &_pose) const
	Subtraction operator A is the transform from O to P in frame O B is the transform from O to Q in frame O B - A is the transform from P to Q in frame P. More...

const Pose &	operator-= (const Pose &_pose)
	Subtraction operator. More...

Pose &	operator= (const Pose &_pose)
	Equal operator. More...

bool	operator== (const Pose &_pose) const
	Equality operator. More...

void	Reset ()
	Reset the pose. More...

Pose	RotatePositionAboutOrigin (const Quaternion &_rot) const
	Rotate vector part of a pose about the origin. More...

void	Round (int _precision)
	Round all values to _precision decimal places. More...

void	Set (const Vector3 &_pos, const Quaternion &_rot)
	Set the pose from a Vector3 and a Quaternion. More...

void	Set (const Vector3 &_pos, const Vector3 &_rpy)
	Set the pose from pos and rpy vectors. More...

void	Set (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Set the pose from a six tuple. More...

Public Attributes
Vector3	pos
	The position. More...

Quaternion	rot
	The rotation. More...

Static Public Attributes
static const Pose	Zero
	math::Pose(0, 0, 0, 0, 0, 0) More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Pose &_pose)
	Stream insertion operator. More...

std::istream &	operator>> (std::istream &_in, gazebo::math::Pose &_pose)
	Stream extraction operator. More...

Detailed Description

Encapsulates a position and rotation in three space.

Constructor & Destructor Documentation

gazebo::math::Pose::Pose ( )

Default constructors.

gazebo::math::Pose::Pose	(	const Vector3 &	_pos,
		const Quaternion &	_rot
	)

Constructor.

Parameters

[in]	_pos	A position
[in]	_rot	A rotation

gazebo::math::Pose::Pose	(	double	_x,
		double	_y,
		double	_z,
		double	_roll,
		double	_pitch,
		double	_yaw
	)

Constructor.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Yaw (rotation about z-axis) in radians.

gazebo::math::Pose::Pose ( const Pose & _pose )

Copy constructor.

Parameters

[in] _pose Pose to copy

virtual gazebo::math::Pose::~Pose ( )

virtual

Destructor.

Member Function Documentation

Pose gazebo::math::Pose::CoordPoseSolve ( const Pose & _b ) const

Find the inverse of a pose; i.e., if b = this + a, given b and this, find a.

Parameters

[in] _b the other pose

Vector3 gazebo::math::Pose::CoordPositionAdd ( const Vector3 & _pos ) const

Add one point to a vector: result = this + pos.

Parameters

[in] _pos Position to add to this pose

Returns: the resulting position

Vector3 gazebo::math::Pose::CoordPositionAdd ( const Pose & _pose ) const

Add one point to another: result = this + pose.

Parameters

[in] _pose The Pose to add

Returns: The resulting position

Vector3 gazebo::math::Pose::CoordPositionSub ( const Pose & _pose ) const

inline

Subtract one position from another: result = this - pose.

Parameters

[in] _pose Pose to subtract

Returns: The resulting position

References gazebo::math::Quaternion::GetInverse(), pos, rot, gazebo::math::Vector3::x, gazebo::math::Quaternion::x, gazebo::math::Vector3::y, gazebo::math::Quaternion::y, gazebo::math::Vector3::z, and gazebo::math::Quaternion::z.

Quaternion gazebo::math::Pose::CoordRotationAdd ( const Quaternion & _rot ) const

Add one rotation to another: result = this->rot + rot.

Parameters

[in] _rot Rotation to add

Returns: The resulting rotation

Quaternion gazebo::math::Pose::CoordRotationSub ( const Quaternion & _rot ) const

inline

Subtract one rotation from another: result = this->rot - rot.

Parameters

[in] _rot The rotation to subtract

Returns: The resulting rotation

References gazebo::math::Quaternion::GetInverse(), and gazebo::math::Quaternion::Normalize().

void gazebo::math::Pose::Correct ( )

inline

Fix any nan values.

Pose gazebo::math::Pose::GetInverse ( ) const

Get the inverse of this pose.

Returns: the inverse pose

bool gazebo::math::Pose::IsFinite ( ) const

See if a pose is finite (e.g., not nan)

bool gazebo::math::Pose::operator!= ( const Pose & _pose ) const

Inequality operator.

Parameters

[in] _pose Pose for comparison

Returns: True if not equal

Pose gazebo::math::Pose::operator* ( const Pose & _pose )

Multiplication operator.

Parameters

[in] _pose the other pose

Returns: itself

Pose gazebo::math::Pose::operator+ ( const Pose & _pose ) const

Addition operator A is the transform from O to P specified in frame O B is the transform from P to Q specified in frame P then, B + A is the transform from O to Q specified in frame O.

Parameters

[in] _pose Pose to add to this pose

Returns: The resulting pose

const Pose& gazebo::math::Pose::operator+= ( const Pose & _pose )

Add-Equals operator.

Parameters

[in] _pose Pose to add to this pose

Returns: The resulting pose

Pose gazebo::math::Pose::operator- ( ) const

inline

Negation operator A is the transform from O to P in frame O then -A is transform from P to O specified in frame P.

Returns: The resulting pose

Pose gazebo::math::Pose::operator- ( const Pose & _pose ) const

inline

Subtraction operator A is the transform from O to P in frame O B is the transform from O to Q in frame O B - A is the transform from P to Q in frame P.

Parameters

[in] _pose Pose to subtract from this one

Returns: The resulting pose

References rot.

const Pose& gazebo::math::Pose::operator-= ( const Pose & _pose )

Subtraction operator.

Parameters

[in] _pose Pose to subtract from this one

Returns: The resulting pose

Pose& gazebo::math::Pose::operator= ( const Pose & _pose )

Equal operator.

Parameters

[in] _pose Pose to copy

bool gazebo::math::Pose::operator== ( const Pose & _pose ) const

Equality operator.

Parameters

[in] _pose Pose for comparison

Returns: True if equal

void gazebo::math::Pose::Reset ( )

Reset the pose.

Pose gazebo::math::Pose::RotatePositionAboutOrigin ( const Quaternion & _rot ) const

Rotate vector part of a pose about the origin.

Parameters

[in] _rot rotation

Returns: the rotated pose

void gazebo::math::Pose::Round ( int _precision )

Round all values to _precision decimal places.

Parameters

[in] _precision

void gazebo::math::Pose::Set	(	const Vector3 &	_pos,
		const Quaternion &	_rot
	)

Set the pose from a Vector3 and a Quaternion.

Parameters

[in]	_pos	The position.
[in]	_rot	The rotation.

void gazebo::math::Pose::Set	(	const Vector3 &	_pos,
		const Vector3 &	_rpy
	)

Set the pose from pos and rpy vectors.

Parameters

[in]	_pos	The position.
[in]	_rpy	The rotation expressed as Euler angles.

void gazebo::math::Pose::Set	(	double	_x,
		double	_y,
		double	_z,
		double	_roll,
		double	_pitch,
		double	_yaw
	)

Set the pose from a six tuple.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Pitch (rotation about z-axis) in radians.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::math::Pose &	_pose
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_pose	pose to output

Returns: the stream

std::istream& operator>>	(	std::istream &	_in,
		gazebo::math::Pose &	_pose
	)

friend

Stream extraction operator.

Parameters

[in]	_in	the input stream
[in]	_pose	the pose

Returns: the stream

Member Data Documentation

Vector3 gazebo::math::Pose::pos

The position.

Referenced by gazebo::physics::BulletTypes::ConvertPose(), gazebo::physics::DARTTypes::ConvPose(), CoordPositionSub(), gazebo::physics::ODEPlaneShape::CreatePlane(), gazebo::physics::BulletSphereShape::SetRadius(), gazebo::physics::BulletBoxShape::SetSize(), and gazebo::physics::BulletCylinderShape::SetSize().

Quaternion gazebo::math::Pose::rot

The rotation.

Referenced by gazebo::physics::BulletTypes::ConvertPose(), gazebo::physics::DARTTypes::ConvPose(), CoordPositionSub(), and operator-().

const Pose gazebo::math::Pose::Zero

static

math::Pose(0, 0, 0, 0, 0, 0)

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

Pose.hh

Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation