octomath Namespace Reference

Namespace of the math library in Octomap. More...

Data Structures
class	Pose6D
	This class represents a tree-dimensional pose of an object. More...
class	Quaternion
	This class represents a Quaternion. More...
class	Vector3
	This class represents a three-dimensional vector. More...
Functions
Quaternion	operator* (const Vector3 &v, const Quaternion &q)
std::ostream &	operator<< (std::ostream &s, const Quaternion &q)
	user friendly output in format (u x y z)
std::ostream &	operator<< (std::ostream &out, octomath::Vector3 const &v)
	user friendly output in format (x y z)
std::ostream &	operator<< (std::ostream &s, const Pose6D &p)
	user friendly output in format (x y z, u x y z) which is (translation, rotation)

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Detailed Description

Namespace of the math library in Octomap.

OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.

Author:

K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009.

See also:

http://octomap.sourceforge.net/ License: New BSD License

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Function Documentation

Quaternion octomath::operator*	(	const Vector3 &	v,
		const Quaternion &	q
	)

Returns:

(0, v) * q

std::ostream & octomath::operator<<	(	std::ostream &	s,
		const Quaternion &	q
	)

user friendly output in format (u x y z)

References octomath::Quaternion::u(), octomath::Quaternion::x(), octomath::Quaternion::y(), and octomath::Quaternion::z().

std::ostream & octomath::operator<<	(	std::ostream &	out,
		octomath::Vector3 const &	v
	)

user friendly output in format (x y z)

References octomath::Vector3::x(), octomath::Vector3::y(), and octomath::Vector3::z().

std::ostream & octomath::operator<<	(	std::ostream &	s,
		const Pose6D &	p
	)

user friendly output in format (x y z, u x y z) which is (translation, rotation)

References octomath::Pose6D::rot(), octomath::Quaternion::u(), octomath::Quaternion::x(), octomath::Pose6D::x(), octomath::Quaternion::y(), octomath::Pose6D::y(), octomath::Quaternion::z(), and octomath::Pose6D::z().