This class represents a tree-dimensional pose of an object. More...

Collaboration diagram for octomath::Pose6D:

Public Member Functions
double	distance (const Pose6D &other) const
	Translational distance.
Pose6D	inv () const
	Inversion.
Pose6D &	inv_IP ()
	Inversion.
bool	operator!= (const Pose6D &other) const
Pose6D	operator* (const Pose6D &p) const
	Concatenation.
const Pose6D &	operator*= (const Pose6D &p)
	In place concatenation.
Pose6D &	operator= (const Pose6D &other)
bool	operator== (const Pose6D &other) const
double	pitch () const
	Pose6D ()
	Pose6D (float x, float y, float z, double roll, double pitch, double yaw)
	Constructor.
	Pose6D (const Vector3 &trans, const Quaternion &rot)
	Constructor.
std::istream &	read (std::istream &s)
	Input operator.
std::istream &	readBinary (std::istream &s)
	Binary input operator.
double	roll () const
Quaternion &	rot ()
	Rotational component.
const Quaternion &	rot () const
	Rotational component.
Vector3 &	trans ()
	Translational component.
const Vector3 &	trans () const
	Translational component.
Vector3	transform (const Vector3 &v) const
	Transformation of a vector.
double	transLength () const
	Translational length.
std::ostream &	write (std::ostream &s) const
	Output operator.
std::ostream &	writeBinary (std::ostream &s) const
	Binary output operator.
const float &	x () const
float &	x ()
const float &	y () const
float &	y ()
double	yaw () const
const float &	z () const
float &	z ()
	~Pose6D ()
Protected Attributes
Quaternion	rotation
Vector3	translation

Detailed Description

This class represents a tree-dimensional pose of an object.

The tree-dimensional pose is represented by a three-dimensional translation vector representing the position of the object and a Quaternion representing the attitude of the object

Constructor & Destructor Documentation

octomath::Pose6D::Pose6D ( )

Referenced by operator*().

octomath::Pose6D::~Pose6D ( )

octomath::Pose6D::Pose6D	(	const Vector3 &	trans,
		const Quaternion &	rot
	)

Constructor.

Constructs a pose from given translation and rotation.

octomath::Pose6D::Pose6D	(	float	x,
		float	y,
		float	z,
		double	roll,
		double	pitch,
		double	yaw
	)

Constructor.

Constructs a pose from a translation represented by its x, y, z-values and a rotation represented by its Tait-Bryan angles roll, pitch, and yaw

Member Function Documentation

double octomath::Pose6D::distance ( const Pose6D & other ) const

Translational distance.

Returns:: the translational (euclidian) distance to p

References x(), y(), and z().

Pose6D octomath::Pose6D::inv ( ) const

Inversion.

Inverts the coordinate transformation represented by this pose

Returns:: a copy of this pose inverted

References octomath::Quaternion::inv(), octomath::Quaternion::normalized(), rot(), octomath::Quaternion::rotate(), and trans().

Referenced by octomap::ScanGraph::addEdge(), octomap::ScanGraph::crop(), octomap::OccupancyOcTreeBase< NODE >::insertScan(), main(), octomap::Pointcloud::transform(), and octomap::Pointcloud::transformAbsolute().

Pose6D & octomath::Pose6D::inv_IP ( )

Inversion.

Inverts the coordinate transformation represented by this pose

Returns:: a reference to this pose

References octomath::Quaternion::inv(), octomath::Quaternion::normalized(), rot(), octomath::Quaternion::rotate(), and trans().

bool octomath::Pose6D::operator!= ( const Pose6D & other ) const

Pose6D octomath::Pose6D::operator* ( const Pose6D & p ) const

Concatenation.

Concatenates the coordinate transformations represented by this and p.

Returns:: this * p (applies first this, then p)

References octomath::Quaternion::normalized(), Pose6D(), rot(), octomath::Quaternion::rotate(), rotation, and trans().

const Pose6D & octomath::Pose6D::operator*= ( const Pose6D & p )

In place concatenation.

Concatenates p to this Pose6D.

Returns:: this which results from first moving by this and afterwards by p

References rot(), octomath::Quaternion::rotate(), rotation, and trans().

Pose6D & octomath::Pose6D::operator= ( const Pose6D & other )

References rot(), rotation, trans(), and translation.

bool octomath::Pose6D::operator== ( const Pose6D & other ) const

References rotation, and translation.

double octomath::Pose6D::pitch ( ) const [inline]

References rotation, and octomath::Quaternion::toEuler().

Referenced by octomap::MapCollection< MAPNODE >::write().

std::istream & octomath::Pose6D::read ( std::istream & s )

Input operator.

Parsing from stream which was written by write().

References octomath::Quaternion::read(), octomath::Vector3::read(), rotation, and translation.

Referenced by octomap::ScanEdge::readASCII().

std::istream & octomath::Pose6D::readBinary ( std::istream & s )

Binary input operator.

Parsing from binary stream which was written by writeBinary().

References octomath::Quaternion::readBinary(), octomath::Vector3::readBinary(), rotation, and translation.

Referenced by octomap::ScanEdge::readBinary(), and octomap::ScanNode::readBinary().

double octomath::Pose6D::roll ( ) const [inline]

References rotation, and octomath::Quaternion::toEuler().

Referenced by octomap::MapCollection< MAPNODE >::write().

Quaternion& octomath::Pose6D::rot ( ) [inline]

Rotational component.

Returns:: the rotational component of this pose

References rotation.

Referenced by inv(), inv_IP(), operator*(), operator*=(), octomath::operator<<(), operator=(), octomap::ScanNode::readPoseASCII(), transform(), and octomap::ScanNode::writePoseASCII().

const Quaternion& octomath::Pose6D::rot ( ) const [inline]

Rotational component.

Returns:: the rotational component of this pose

References rotation.

Vector3& octomath::Pose6D::trans ( ) [inline]

Translational component.

Returns:: the translational component of this pose

References translation.

Referenced by octomap::OccupancyOcTreeBase< NODE >::insertScan(), inv(), inv_IP(), operator*(), operator*=(), operator=(), octomap::ScanNode::readPoseASCII(), transform(), and octomap::ScanNode::writePoseASCII().

const Vector3& octomath::Pose6D::trans ( ) const [inline]

Translational component.

Returns:: the translational component of this pose

References translation.

Vector3 octomath::Pose6D::transform ( const Vector3 & v ) const

Transformation of a vector.

Transforms the vector v by the transformation which is specified by this.

Returns:: the vector which is translated by the translation of this and afterwards rotated by the rotation of this.

References rot(), octomath::Quaternion::rotate(), and trans().

Referenced by octomap::OccupancyOcTreeBase< NODE >::insertScan(), main(), octomap::Pointcloud::transform(), and octomap::Pointcloud::transformAbsolute().

double octomath::Pose6D::transLength ( ) const

Translational length.

Returns:: the translational (euclidian) length of the translation vector of this Pose6D

References x(), y(), and z().

std::ostream & octomath::Pose6D::write ( std::ostream & s ) const

Output operator.

Output to stream in a format which can be parsed using read().

References rotation, translation, octomath::Quaternion::write(), and octomath::Vector3::write().

Referenced by octomap::ScanEdge::writeASCII().

std::ostream & octomath::Pose6D::writeBinary ( std::ostream & s ) const

Binary output operator.

Output to stream in a binary format which can be parsed using readBinary().

References rotation, translation, octomath::Quaternion::writeBinary(), and octomath::Vector3::writeBinary().

Referenced by octomap::ScanEdge::writeBinary(), and octomap::ScanNode::writeBinary().

const float& octomath::Pose6D::x ( ) const [inline]

References translation.

float& octomath::Pose6D::x ( ) [inline]

References translation.

Referenced by distance(), octomath::operator<<(), transLength(), and octomap::MapCollection< MAPNODE >::write().

float& octomath::Pose6D::y ( ) [inline]

References translation.

Referenced by distance(), octomath::operator<<(), transLength(), and octomap::MapCollection< MAPNODE >::write().

const float& octomath::Pose6D::y ( ) const [inline]

References translation.

double octomath::Pose6D::yaw ( ) const [inline]

References rotation, and octomath::Quaternion::toEuler().

Referenced by main(), and octomap::MapCollection< MAPNODE >::write().

const float& octomath::Pose6D::z ( ) const [inline]

References translation.

float& octomath::Pose6D::z ( ) [inline]

References translation.

Referenced by distance(), octomath::operator<<(), transLength(), and octomap::MapCollection< MAPNODE >::write().

Field Documentation

Quaternion octomath::Pose6D::rotation [protected]

Referenced by operator*(), operator*=(), operator=(), operator==(), pitch(), read(), readBinary(), roll(), rot(), write(), writeBinary(), and yaw().

Vector3 octomath::Pose6D::translation [protected]

Referenced by operator=(), operator==(), read(), readBinary(), trans(), write(), writeBinary(), x(), y(), and z().

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

include/octomap/math/Pose6D.h
src/math/Pose6D.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation