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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 ()
 Default constructors.
 Pose3d (const Vector3 &pos, const Quatern &rot)
 Constructor.
 Pose3d (const Pose3d &pose)
 Copy constructor.
virtual ~Pose3d ()
 Destructor.
bool IsFinite () const
 See if a pose is finite (e.g., not nan).
Pose3d operator+ (const Pose3d &pose) const
 Addition operator.
const Pose3d & operator+= (const Pose3d &pose)
 Add-Equals operator.
Pose3d operator- (const Pose3d &pose) const
 Subtraction operator.
const Pose3d & operator-= (const Pose3d &pose)
 Subtraction operator.
Vector3 CoordPositionAdd (const Vector3 &pos) const
 Add one point to a vector: result = this + pos.
Vector3 CoordPositionAdd (const Pose3d &pose) const
 Add one point to another: result = this + pose.
Vector3 CoordPositionSub (const Pose3d &pose) const
 Subtract one position from another: result = this - pose.
Quatern CoordRotationAdd (const Quatern &rot) const
 Add one rotation to another: result = this->rot + rot.
Quatern CoordRotationSub (const Quatern &rot) const
 Subtract one rotation from another: result = this->rot - rot.
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.

Public Attributes

Vector3 pos
 The position.
Quatern rot
 The rotation.

Friends

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

Constructor & Destructor Documentation

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

Member Function Documentation

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

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

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