ignition::math::Pose3< T > Class Template Reference

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

#include <ignition/math/Pose3.hh>

Public Member Functions
	Pose3 ()
	Default constructors. More...
	Pose3 (const Vector3< T > &_pos, const Quaternion< T > &_rot)
	Constructor. More...
	Pose3 (T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
	Constructor. More...
	Pose3 (T _x, T _y, T _z, T _qw, T _qx, T _qy, T _qz)
	Constructor. More...
	Pose3 (const Pose3< T > &_pose)
	Copy constructor. More...
virtual	~Pose3 ()
	Destructor. More...
Pose3< T >	CoordPoseSolve (const Pose3< T > &_b) const
	Find the inverse of a pose; i.e., if b = this + a, given b and this, find a. More...
Vector3< T >	CoordPositionAdd (const Vector3< T > &_pos) const
	Add one point to a vector: result = this + pos. More...
Vector3< T >	CoordPositionAdd (const Pose3< T > &_pose) const
	Add one point to another: result = this + pose. More...
Vector3< T >	CoordPositionSub (const Pose3< T > &_pose) const
	Subtract one position from another: result = this - pose. More...
Quaternion< T >	CoordRotationAdd (const Quaternion< T > &_rot) const
	Add one rotation to another: result = this->q + rot. More...
Quaternion< T >	CoordRotationSub (const Quaternion< T > &_rot) const
	Subtract one rotation from another: result = this->q - rot. More...
void	Correct ()
	Fix any nan values. More...
Pose3< T >	Inverse () 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 Pose3< T > &_pose) const
	Inequality operator. More...
Pose3< T >	operator* (const Pose3< T > &_pose)
	Multiplication operator. More...
Pose3< T >	operator+ (const Pose3< T > &_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 Pose3< T > &	operator+= (const Pose3< T > &_pose)
	Add-Equals operator. More...
Pose3< T >	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...
Pose3< T >	operator- (const Pose3< T > &_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 Pose3< T > &	operator-= (const Pose3< T > &_pose)
	Subtraction operator. More...
Pose3< T > &	operator= (const Pose3< T > &_pose)
	Equal operator. More...
bool	operator== (const Pose3< T > &_pose) const
	Equality operator. More...
const Vector3< T > &	Pos () const
	Get the position. More...
Vector3< T > &	Pos ()
	Get a mutable reference to the position. More...
void	Reset ()
	Reset the pose. More...
const Quaternion< T > &	Rot () const
	Get the rotation. More...
Quaternion< T > &	Rot ()
	Get a mutuable reference to the rotation. More...
Pose3< T >	RotatePositionAboutOrigin (const Quaternion< T > &_q) 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< T > &_pos, const Quaternion< T > &_rot)
	Set the pose from a Vector3 and a Quaternion<T> More...
void	Set (const Vector3< T > &_pos, const Vector3< T > &_rpy)
	Set the pose from pos and rpy vectors. More...
void	Set (T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
	Set the pose from a six tuple. More...

Static Public Attributes
static const Pose3< T >	Zero
	math::Pose3<T>(0, 0, 0, 0, 0, 0) More...

Friends
std::ostream &	operator<< (std::ostream &_out, const ignition::math::Pose3< T > &_pose)
	Stream insertion operator. More...
std::istream &	operator>> (std::istream &_in, ignition::math::Pose3< T > &_pose)
	Stream extraction operator. More...

Detailed Description

template<typename T>
class ignition::math::Pose3< T >

Encapsulates a position and rotation in three space.

Constructor & Destructor Documentation

template<typename T>

ignition::math::Pose3< T >::Pose3 ( )

inline

Default constructors.

template<typename T>

ignition::math::Pose3< T >::Pose3 ( const Vector3< T > &  _pos, const Quaternion< T > &  _rot  )

inline

Constructor.

Parameters

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

template<typename T>

ignition::math::Pose3< T >::Pose3 ( T  _x, T  _y, T  _z, T  _roll, T  _pitch, T  _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.

template<typename T>

ignition::math::Pose3< T >::Pose3 ( T  _x, T  _y, T  _z, T  _qw, T  _qx, T  _qy, T  _qz  )

inline

Constructor.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_qw	Quaternion w value.
[in]	_qx	Quaternion x value.
[in]	_qy	Quaternion y value.
[in]	_qz	Quaternion z value.

template<typename T>

ignition::math::Pose3< T >::Pose3 ( const Pose3< T > &  _pose )

inline

Copy constructor.

Parameters

[in]

_pose

Pose3<T> to copy

template<typename T>

virtual ignition::math::Pose3< T >::~Pose3 ( )

inlinevirtual

Destructor.

Member Function Documentation

template<typename T>

Pose3<T> ignition::math::Pose3< T >::CoordPoseSolve ( const Pose3< T > &  _b ) const

inline

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

Parameters

[in]

_b

the other pose

References ignition::math::Quaternion< T >::X(), ignition::math::Quaternion< T >::Y(), and ignition::math::Quaternion< T >::Z().

template<typename T>

Vector3<T> ignition::math::Pose3< T >::CoordPositionAdd ( const Vector3< T > &  _pos ) const

inline

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

Parameters

[in]

_pos

Position to add to this pose

Returns

the resulting position

References ignition::math::Vector3< T >::X(), ignition::math::Quaternion< T >::X(), ignition::math::Vector3< T >::Y(), ignition::math::Quaternion< T >::Y(), ignition::math::Vector3< T >::Z(), and ignition::math::Quaternion< T >::Z().

Referenced by ignition::math::Pose3< T >::operator*(), ignition::math::Pose3< T >::operator+(), and ignition::math::Pose3< T >::operator+=().

template<typename T>

Vector3<T> ignition::math::Pose3< T >::CoordPositionAdd ( const Pose3< T > &  _pose ) const

inline

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

Parameters

[in]

_pose

The Pose3<T> to add

Returns

The resulting position

References ignition::math::Quaternion< T >::X(), ignition::math::Quaternion< T >::Y(), and ignition::math::Quaternion< T >::Z().

template<typename T>

Vector3<T> ignition::math::Pose3< T >::CoordPositionSub ( const Pose3< T > &  _pose ) const

inline

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

Parameters

[in]

_pose

Pose3<T> to subtract

Returns

The resulting position

References ignition::math::Quaternion< T >::X(), ignition::math::Quaternion< T >::Y(), and ignition::math::Quaternion< T >::Z().

Referenced by ignition::math::Pose3< T >::operator-(), and ignition::math::Pose3< T >::operator-=().

template<typename T>

Quaternion<T> ignition::math::Pose3< T >::CoordRotationAdd ( const Quaternion< T > &  _rot ) const

inline

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

Parameters

[in]

_rot

Rotation to add

Returns

The resulting rotation

Referenced by ignition::math::Pose3< T >::operator+(), and ignition::math::Pose3< T >::operator+=().

template<typename T>

Quaternion<T> ignition::math::Pose3< T >::CoordRotationSub ( const Quaternion< T > &  _rot ) const

inline

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

Parameters

[in]

_rot

The rotation to subtract

Returns

The resulting rotation

References ignition::math::Quaternion< T >::Inverse(), and ignition::math::Quaternion< T >::Normalize().

Referenced by ignition::math::Pose3< T >::operator-(), and ignition::math::Pose3< T >::operator-=().

template<typename T>

void ignition::math::Pose3< T >::Correct ( )

inline

Fix any nan values.

template<typename T>

Pose3<T> ignition::math::Pose3< T >::Inverse ( ) const

inline

Get the inverse of this pose.

Returns

the inverse pose

template<typename T>

bool ignition::math::Pose3< T >::IsFinite ( ) const

inline

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

template<typename T>

bool ignition::math::Pose3< T >::operator!= ( const Pose3< T > &  _pose ) const

inline

Inequality operator.

Parameters

[in]

_pose

Pose3<T> for comparison

Returns

True if not equal

template<typename T>

Pose3<T> ignition::math::Pose3< T >::operator* ( const Pose3< T > &  _pose )

inline

Multiplication operator.

Parameters

[in]

_pose

the other pose

Returns

itself

References ignition::math::Pose3< T >::CoordPositionAdd().

template<typename T>

Pose3<T> ignition::math::Pose3< T >::operator+ ( const Pose3< T > &  _pose ) const

inline

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

Pose3<T> to add to this pose

Returns

The resulting pose

References ignition::math::Pose3< T >::CoordPositionAdd(), and ignition::math::Pose3< T >::CoordRotationAdd().

template<typename T>

const Pose3<T>& ignition::math::Pose3< T >::operator+= ( const Pose3< T > &  _pose )

inline

Add-Equals operator.

Parameters

[in]

_pose

Pose3<T> to add to this pose

Returns

The resulting pose

References ignition::math::Pose3< T >::CoordPositionAdd(), and ignition::math::Pose3< T >::CoordRotationAdd().

template<typename T>

Pose3<T> ignition::math::Pose3< T >::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

template<typename T>

Pose3<T> ignition::math::Pose3< T >::operator- ( const Pose3< T > &  _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

Pose3<T> to subtract from this one

Returns

The resulting pose

References ignition::math::Pose3< T >::CoordPositionSub(), and ignition::math::Pose3< T >::CoordRotationSub().

template<typename T>

const Pose3<T>& ignition::math::Pose3< T >::operator-= ( const Pose3< T > &  _pose )

inline

Subtraction operator.

Parameters

[in]

_pose

Pose3<T> to subtract from this one

Returns

The resulting pose

References ignition::math::Pose3< T >::CoordPositionSub(), and ignition::math::Pose3< T >::CoordRotationSub().

template<typename T>

Pose3<T>& ignition::math::Pose3< T >::operator= ( const Pose3< T > &  _pose )

inline

Equal operator.

Parameters

[in]

_pose

Pose3<T> to copy

template<typename T>

bool ignition::math::Pose3< T >::operator== ( const Pose3< T > &  _pose ) const

inline

Equality operator.

Parameters

[in]

_pose

Pose3<T> for comparison

Returns

True if equal

template<typename T>

const Vector3<T>& ignition::math::Pose3< T >::Pos ( ) const

inline

Get the position.

Returns

Origin of the pose.

template<typename T>

Vector3<T>& ignition::math::Pose3< T >::Pos ( )

inline

Get a mutable reference to the position.

Returns

Origin of the pose.

template<typename T>

void ignition::math::Pose3< T >::Reset ( )

inline

Reset the pose.

References ignition::math::Quaternion< T >::Identity.

template<typename T>

const Quaternion<T>& ignition::math::Pose3< T >::Rot ( ) const

inline

Get the rotation.

Returns

Quaternion representation of the rotation.

template<typename T>

Quaternion<T>& ignition::math::Pose3< T >::Rot ( )

inline

Get a mutuable reference to the rotation.

Returns

Quaternion representation of the rotation.

template<typename T>

Pose3<T> ignition::math::Pose3< T >::RotatePositionAboutOrigin ( const Quaternion< T > &  _q ) const

inline

Rotate vector part of a pose about the origin.

Parameters

[in]

_rot

rotation

Returns

the rotated pose

References ignition::math::Quaternion< T >::W(), ignition::math::Quaternion< T >::X(), ignition::math::Quaternion< T >::Y(), and ignition::math::Quaternion< T >::Z().

template<typename T>

void ignition::math::Pose3< T >::Round ( int  _precision )

inline

Round all values to _precision decimal places.

Parameters

[in]

_precision

template<typename T>

void ignition::math::Pose3< T >::Set ( const Vector3< T > &  _pos, const Quaternion< T > &  _rot  )

inline

Set the pose from a Vector3 and a Quaternion<T>

Parameters

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

template<typename T>

void ignition::math::Pose3< T >::Set ( const Vector3< T > &  _pos, const Vector3< T > &  _rpy  )

inline

Set the pose from pos and rpy vectors.

Parameters

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

template<typename T>

void ignition::math::Pose3< T >::Set ( T  _x, T  _y, T  _z, T  _roll, T  _pitch, T  _yaw  )

inline

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

template<typename T>

std::ostream& operator<< ( std::ostream &  _out, const ignition::math::Pose3< T > &  _pose  )

friend

Stream insertion operator.

Parameters

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

Returns

the stream

template<typename T>

std::istream& operator>> ( std::istream &  _in, ignition::math::Pose3< T > &  _pose  )

friend

Stream extraction operator.

Parameters

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

Returns

the stream

Member Data Documentation

template<typename T>

const Pose3< T > ignition::math::Pose3< T >::Zero

static

math::Pose3<T>(0, 0, 0, 0, 0, 0)

---

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

• Pose3.hh