sdf::Pose Class Reference

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

#include <Types.hh>

Public Member Functions
	Pose ()
	Constructor. More...
	Pose (Vector3 _pos, Quaternion _rot)
	Constructor. More...
	Pose (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Constructor. More...
Vector3	CoordPositionAdd (const Pose &_pose) const
	Add one point to another: result = this + pose. More...
Pose	operator* (const Pose &pose)
	Multiplication operator. More...
bool	operator== (const Pose &_pose) const
	Equality operator. More...

Public Attributes
Vector3	pos
	Position data. More...
Quaternion	rot
	Orientation data. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const Pose &_pose)
	Stream insertion operator. More...
std::istream &	operator>> (std::istream &_in, Pose &_pose)
	Stream extraction operator. More...

Detailed Description

Encapsulates a position and rotation in three space.

Constructor & Destructor Documentation

sdf::Pose::Pose ( )

inline

Constructor.

Referenced by operator*().

sdf::Pose::Pose ( Vector3  _pos, Quaternion  _rot  )

inline

Constructor.

Parameters

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

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

inline

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.

References sdf::Quaternion::Correct(), and rot.

Member Function Documentation

Vector3 sdf::Pose::CoordPositionAdd ( const Pose &  _pose ) const

inline

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

Parameters

[in]

_pose

The Pose to add

Returns

The resulting position

References sdf::Quaternion::GetInverse(), pos, rot, sdf::Quaternion::w, sdf::Vector3::x, sdf::Quaternion::x, sdf::Vector3::y, sdf::Quaternion::y, sdf::Vector3::z, and sdf::Quaternion::z.

Referenced by operator*().

Pose sdf::Pose::operator* ( const Pose &  pose )

inline

Multiplication operator.

Parameters

[in]

_pose

the other pose

Returns

itself

References CoordPositionAdd(), Pose(), and rot.

bool sdf::Pose::operator== ( const Pose &  _pose ) const

inline

Equality operator.

Parameters

[in]

_pose

Pose for comparison

Returns

True if equal

References pos, and rot.

Friends And Related Function Documentation

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

friend

Stream insertion operator.

Parameters

out	output stream
pose	pose to output

Returns

the stream

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

friend

Stream extraction operator.

Parameters

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

Returns

the stream

Member Data Documentation

Vector3 sdf::Pose::pos

Position data.

Referenced by CoordPositionAdd(), and operator==().

Quaternion sdf::Pose::rot

Orientation data.

Referenced by CoordPositionAdd(), operator*(), operator==(), and Pose().

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

• Types.hh