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gazebo::Pose3d

Pose3d Class Reference
[Server]

#include <Pose3d.hh>

List of all members.

Detailed Description

Pose3d encapsulates a position and rotation in three space

Public Member Functions

 Pose3d ()
 Pose3d (const Vector3 &pos, const Quatern &rot)
 Pose3d (const Pose3d &pose)
virtual ~Pose3d ()
bool IsFinite () const
Pose3d operator+ (const Pose3d &pose) const
const Pose3d & operator+= (const Pose3d &pose)
Pose3d operator- (const Pose3d &pose) const
const Pose3d & operator-= (const Pose3d &pose)
Vector3 CoordPositionAdd (const Vector3 &pos) const
Vector3 CoordPositionAdd (const Pose3d &pose) const
Vector3 CoordPositionSub (const Pose3d &pose) const
Quatern CoordRotationAdd (const Quatern &rot) const
Quatern CoordRotationSub (const Quatern &rot) const
Pose3d CoordPoseSolve (const Pose3d &b) const
void Reset ()

Public Attributes

Vector3 pos
Quatern rot

Friends

std::ostream & operator<< (std::ostream &out, const gazebo::Pose3d &pose)

Constructor & Destructor Documentation

Pose3d (  ) 

Default constructors

Pose3d ( const Vector3 &  pos,
const Quatern &  rot 
)

Constructor

Parameters:
pos A position
rot A rotation

Pose3d ( const Pose3d &  pose  ) 

Copy constructor

Parameters:
pose Pose3d to copy

virtual ~Pose3d (  )  [virtual]

Destructor

Member Function Documentation

bool IsFinite (  )  const

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

Pose3d operator+ ( const Pose3d &  pose  )  const

Addition operator

Parameters:
pose Pose to add to this pose
Returns:
The resulting pose

const Pose3d& operator+= ( const Pose3d &  pose  ) 

Add-Equals operator

Parameters:
pose Pose to add to this pose
Returns:
The resulting pose

Pose3d operator- ( const Pose3d &  pose  )  const

Subtraction operator

Parameters:
pose Pose to subtract from this one
Returns:
The resulting pose

const Pose3d& operator-= ( const Pose3d &  pose  ) 

Subtraction operator

Parameters:
pose Pose to subtract from this one
Returns:
The resulting pose

Vector3 CoordPositionAdd ( const Vector3 &  pos  )  const

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

Parameters:
pos Position to add to this pose
Returns:
The resulting position

Vector3 CoordPositionAdd ( const Pose3d &  pose  )  const

Add one point to another: result = this + pose

Parameters:
pose The Pose to add
Returns:
The resulting position

Vector3 CoordPositionSub ( const Pose3d &  pose  )  const

Subtract one position from another: result = this - pose

Parameters:
pose Pose to subtract
Returns:
The resulting position

Quatern CoordRotationAdd ( const Quatern &  rot  )  const

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

Parameters:
rot Rotation to add
Returns:
The resulting rotation

Quatern CoordRotationSub ( const Quatern &  rot  )  const

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

Parameters:
rot The rotation to subtract
Returns:
The resulting rotation

Pose3d CoordPoseSolve ( const Pose3d &  b  )  const

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

void Reset (  ) 

Reset the pose

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out,
const gazebo::Pose3d &  pose 
) [friend]

Ostream operator

Parameters:
out Ostream
pose Pose to output
Returns:
the Ostream

Member Data Documentation

Vector3 pos

The position

Quatern rot

The rotation

The documentation for this class was generated from the following file:
Last updated Aug 04 2007