Pose3.hh
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friend std::istream & operator>>(std::istream &_in, Pose3< T > &_pose)
Stream extraction operator.
Definition: Pose3.hh:400
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.
Definition: Pose3.hh:310
T setf(T... args)
Pose3< T > & operator=(const Pose3< T > &_pose)
Equal operator.
Definition: Pose3.hh:236
Quaternion< T > & Rot()
Get a mutuable reference to the rotation.
Definition: Pose3.hh:380
bool IsFinite() const
See if a pose is finite (e.g., not nan)
Definition: Pose3.hh:121
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 specifie...
Definition: Pose3.hh:172
bool operator!=(const Pose3< T > &_pose) const
Inequality operator.
Definition: Pose3.hh:211
void Normalize()
Normalize the quaternion.
Definition: Quaternion.hh:224
Pose3(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
Constructor.
Definition: Pose3.hh:59
Quaternion< T > CoordRotationSub(const Quaternion< T > &_rot) const
Subtract one rotation from another: result = this->q - rot.
Definition: Pose3.hh:299
void Round(int _precision)
Round all values to _precision decimal places.
Definition: Pose3.hh:351
const Pose3< T > & operator+=(const Pose3< T > &_pose)
Add-Equals operator.
Definition: Pose3.hh:160
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 fram...
Definition: Pose3.hh:183
static const Pose3< T > Zero
math::Pose3<T>(0, 0, 0, 0, 0, 0)
Definition: Pose3.hh:37
Pose3(const Vector3< T > &_pos, const Quaternion< T > &_rot)
Constructor.
Definition: Pose3.hh:47
STL class.
const Pose3< T > & operator*=(const Pose3< T > &_pose)
Multiplication assignment operator. This pose will become equal to this * _pose.
Definition: Pose3.hh:228
Pose3< T > Inverse() const
Get the inverse of this pose.
Definition: Pose3.hh:135
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 ...
Definition: Pose3.hh:147
void Set(const Vector3< T > &_pos, const Quaternion< T > &_rot)
Set the pose from a Vector3 and a Quaternion<T>
Definition: Pose3.hh:92
Vector3< T > CoordPositionAdd(const Vector3< T > &_pos) const
Add one point to a vector: result = this + pos.
Definition: Pose3.hh:246
void Set(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
Set the pose from a six tuple.
Definition: Pose3.hh:114
const Pose3< T > & operator-=(const Pose3< T > &_pose)
Subtraction operator.
Definition: Pose3.hh:192
Quaternion< T > CoordRotationAdd(const Quaternion< T > &_rot) const
Add one rotation to another: result = this->q + rot.
Definition: Pose3.hh:291
Pose3(T _x, T _y, T _z, T _qw, T _qx, T _qy, T _qz)
Constructor.
Definition: Pose3.hh:72
static const Quaternion Identity
math::Quaternion(1, 0, 0, 0)
Definition: Quaternion.hh:41
Vector3< T > & Pos()
Get a mutable reference to the position.
Definition: Pose3.hh:366
const Quaternion< T > & Rot() const
Get the rotation.
Definition: Pose3.hh:373
friend std::ostream & operator<<(std::ostream &_out, const Pose3< T > &_pose)
Stream insertion operator.
Definition: Pose3.hh:389
Pose3< T > operator*(const Pose3< T > &_pose) const
Multiplication operator.
Definition: Pose3.hh:219
The Vector3 class represents the generic vector containing 3 elements. Since it's commonly used to ke...
Definition: Vector3.hh:40
Vector3< T > CoordPositionAdd(const Pose3< T > &_pose) const
Add one point to another: result = this + pose.
Definition: Pose3.hh:261
const Vector3< T > & Pos() const
Get the position.
Definition: Pose3.hh:359
Vector3< T > CoordPositionSub(const Pose3< T > &_pose) const
Subtract one position from another: result = this - pose.
Definition: Pose3.hh:277
bool operator==(const Pose3< T > &_pose) const
Equality operator.
Definition: Pose3.hh:203
void Set(const Vector3< T > &_pos, const Vector3< T > &_rpy)
Set the pose from pos and rpy vectors.
Definition: Pose3.hh:101
Definition: Angle.hh:42
Quaternion< T > Inverse() const
Get the inverse of this quaternion.
Definition: Quaternion.hh:132
STL class.
Pose3< T > RotatePositionAboutOrigin(const Quaternion< T > &_q) const
Rotate vector part of a pose about the origin.
Definition: Pose3.hh:334