#include <PoseWithCovariance.hpp>

Public Member Functions
	PoseWithCovariance ()

	PoseWithCovariance (const base::TransformWithCovariance &transform)

	PoseWithCovariance (const base::samples::RigidBodyState &rbs)

PoseWithCovariance	operator* (const PoseWithCovariance &pose) const

void	setTransform (const base::TransformWithCovariance &transform)

void	setTransform (const Eigen::Affine3d &transform)

const base::TransformWithCovariance &	getTransformWithCovariance () const

Eigen::Affine3d	getTransform () const

const base::TransformWithCovariance::Covariance &	getCovariance () const

base::samples::RigidBodyState	toRigidBodyState () const

Public Attributes
base::Time	time

std::string	frame_id

std::string	object_frame_id

base::TransformWithCovariance	transform

Detailed Description

Represents a 3D pose with uncertainty of the frame 'object_frame_id' in the frame 'frame_id'. A frame ID shall be globally unique and correspond to a coordinate system. Following the Rock's conventions coordinate systems are right handed with X forward, Y left and Z up.

The pose $^{reference}_{object}T$ in this structure transforms a vector $v_{object}$ from the object frame to the reference frame: $v_{reference} = ^{reference}_{object}T \cdot v_{object}$ Example of a transformation chain: $^{world}_{sensor}T = ^{world}_{body}T \cdot ^{body}_{sensor}T$

Constructor & Destructor Documentation

◆ PoseWithCovariance() [1/3]

base::samples::PoseWithCovariance::PoseWithCovariance ( )

Default constructor

◆ PoseWithCovariance() [2/3]

base::samples::PoseWithCovariance::PoseWithCovariance ( const base::TransformWithCovariance & transform )

explicit

Initializes type from a TransformWithCovariance

◆ PoseWithCovariance() [3/3]

base::samples::PoseWithCovariance::PoseWithCovariance ( const base::samples::RigidBodyState & rbs )

explicit

Initializes type from a RigidBodyState

Member Function Documentation

◆ getCovariance()

const TransformWithCovariance::Covariance & base::samples::PoseWithCovariance::getCovariance ( ) const

Returns the 6x6 covariance matrix

◆ getTransform()

Eigen::Affine3d base::samples::PoseWithCovariance::getTransform ( ) const

Returns transformation as Eigen::Affine3d

◆ getTransformWithCovariance()

const TransformWithCovariance & base::samples::PoseWithCovariance::getTransformWithCovariance ( ) const

Returns transformation as TransformWithCovariance

◆ operator*()

PoseWithCovariance base::samples::PoseWithCovariance::operator* ( const PoseWithCovariance & pose ) const

Performs a composition of this pose with a given pose. The result is another pose with result = this * pose. The frame ID's will be set accordingly (e.g. a_in_b = c_in_b * a_in_c). Note that this method doesn't check if the composition is frame wise valid.

◆ setTransform() [1/2]

void base::samples::PoseWithCovariance::setTransform ( const base::TransformWithCovariance & transform )

Sets the transformation as TransformWithCovariance

◆ setTransform() [2/2]

void base::samples::PoseWithCovariance::setTransform ( const Eigen::Affine3d & transform )

Sets the transformation as Eigen::Affine3d

◆ toRigidBodyState()

RigidBodyState base::samples::PoseWithCovariance::toRigidBodyState ( ) const

Converts the type to a RigidBodyState. Note that the cross-covariances will be lost, since the RigidBodyState does not store them.

Member Data Documentation

◆ frame_id

std::string base::samples::PoseWithCovariance::frame_id

ID of the reference frame where this pose is expressed in

◆ object_frame_id

std::string base::samples::PoseWithCovariance::object_frame_id

ID of the object frame defined by this pose

◆ time

base::Time base::samples::PoseWithCovariance::time

Reference timestamp of the pose sample

◆ transform

base::TransformWithCovariance base::samples::PoseWithCovariance::transform

Pose of the object frame in the reference frame

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

/home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/PoseWithCovariance.hpp
/home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/PoseWithCovariance.cpp

Public Member Functions

Public Attributes