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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]_posA position
[in]_rotA rotation
sdf::Pose::Pose ( double  _x,
double  _y,
double  _z,
double  _roll,
double  _pitch,
double  _yaw 
)
inline

Constructor.

Parameters
[in]_xx position in meters.
[in]_yy position in meters.
[in]_zz position in meters.
[in]_rollRoll (rotation about X-axis) in radians.
[in]_pitchPitch (rotation about y-axis) in radians.
[in]_yawYaw (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]_poseThe 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]_posethe other pose
Returns
itself

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

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

Equality operator.

Parameters
[in]_posePose 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
outoutput stream
posepose to output
Returns
the stream
std::istream& operator>> ( std::istream &  _in,
Pose _pose 
)
friend

Stream extraction operator.

Parameters
[in]_inthe input stream
[in]_posethe 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().


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