Pose Class Reference

Encapsulates a position and rotation in three space. More...

#include <Pose.hh>

List of all members.

Public Member Functions
	Pose ()
	Default constructors.
	Pose (const Vector3 &pos, const Quaternion &rot)
	Constructor.
	Pose (const Pose &pose)
	Copy constructor.
virtual	~Pose ()
	Destructor.
void	Set (const Vector3 &_pos, const Quaternion &_rot)
bool	IsFinite () const
	See if a pose is finite (e.g., not nan)
void	Correct ()
	Fix any nan values.
Pose	GetInverse () const
	Get the inverse of this pose.
Pose	operator+ (const Pose &pose) const
	Addition operator.
const Pose &	operator+= (const Pose &pose)
	Add-Equals operator.
Pose	operator- (const Pose &_pose) const
	Subtraction operator.
const Pose &	operator-= (const Pose &_pose)
	Subtraction operator.
bool	operator== (const Pose &_pose) const
	Equality operator.
bool	operator!= (const Pose &_pose) const
	Inequality operator.
Pose	operator* (const Pose &pose)
	Multiplication operator.
Vector3	CoordPositionAdd (const Vector3 &pos) const
	Add one point to a vector: result = this + pos.
Vector3	CoordPositionAdd (const Pose &pose) const
	Add one point to another: result = this + pose.
Vector3	CoordPositionSub (const Pose &_pose) const
	Subtract one position from another: result = this - pose.
Quaternion	CoordRotationAdd (const Quaternion &rot) const
	Add one rotation to another: result = this->rot + rot.
Quaternion	CoordRotationSub (const Quaternion &rot) const
	Subtract one rotation from another: result = this->rot - rot.
Pose	CoordPoseSolve (const Pose &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.
Pose	RotatePositionAboutOrigin (const Quaternion &rot) const
	Rotate vector part of a pose about the origin.
void	Round (int _precision)
	Round all values to _precision decimal places.
Public Attributes
Vector3	pos
	The position.
Quaternion	rot
	The rotation.
Friends
std::ostream &	operator<< (std::ostream &out, const gazebo::math::Pose &pose)
	Ostream operator.
std::istream &	operator>> (std::istream &in, gazebo::math::Pose &pose)

---

Detailed Description

Encapsulates a position and rotation in three space.

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Constructor & Destructor Documentation

Pose	(	const Vector3 &	pos,
		const Quaternion &	rot
	)

Constructor.

Parameters:

pos	A position
rot	A rotation

Pose

(

const Pose &

pose

)

Copy constructor.

Parameters:

pose	Pose to copy

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Member Function Documentation

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 Pose &

pose

)

const

Add one point to another: result = this + pose.

Parameters:

pose	The Pose to add

Returns:

The resulting position

Vector3 CoordPositionSub

(

const Pose &

_pose

)

const [inline]

Subtract one position from another: result = this - pose.

Parameters:

pose	Pose to subtract

Returns:

The resulting position

References Quaternion::GetInverse(), Pose::pos, Pose::rot, Vector3::x, Quaternion::x, Vector3::y, Quaternion::y, Vector3::z, and Quaternion::z.

Referenced by Pose::operator-().

Quaternion CoordRotationAdd

(

const Quaternion &

rot

)

const

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

Parameters:

rot	Rotation to add

Returns:

The resulting rotation

Quaternion CoordRotationSub

(

const Quaternion &

rot

)

const [inline]

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

Parameters:

rot	The rotation to subtract

Returns:

The resulting rotation

References Quaternion::GetInverse(), Quaternion::Normalize(), and Pose::rot.

Referenced by Pose::operator-().

bool operator!=

(

const Pose &

_pose

)

const

Inequality operator.

Parameters:

_pose

Pose for comparison

Returns:

True if not equal

Pose operator+

(

const Pose &

pose

)

const

Addition operator.

Parameters:

pose	Pose to add to this pose

Returns:

The resulting pose

const Pose& operator+=

(

const Pose &

pose

)

Add-Equals operator.

Parameters:

pose	Pose to add to this pose

Returns:

The resulting pose

Pose operator-

(

const Pose &

_pose

)

const [inline]

Subtraction operator.

Parameters:

pose	Pose to subtract from this one

Returns:

The resulting pose

References Pose::CoordPositionSub(), Pose::CoordRotationSub(), Pose::Pose(), and Pose::rot.

const Pose& operator-=

(

const Pose &

_pose

)

Subtraction operator.

Parameters:

pose	Pose to subtract from this one

Returns:

The resulting pose

bool operator==

(

const Pose &

_pose

)

const

Equality operator.

Parameters:

_pose

Pose for comparison

Returns:

True if equal

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Friends And Related Function Documentation

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

Ostream operator.

Parameters:

out	Ostream
pose	Pose to output

Returns:

the Ostream

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

• Pose.hh