base::Pose Struct Reference

Representation for a pose in 3D. More...

#include <Pose.hpp>

Public Member Functions
	Pose ()
	Default constructor will initialize to zero. More...
	Pose (Position const &p, Orientation const &o)
	Pose (const Eigen::Affine3d &t)
	constructor based on a 4x4 transform matrix More...
	Pose (const Vector6d &v)
void	fromTransform (const Eigen::Affine3d &t)
	set the pose based on a 4x4 matrix More...
Eigen::Affine3d	toTransform () const
	transform matrix which represents the pose transform as a 4x4 homogenous matrix More...
void	fromVector6d (const Vector6d &v)
	set pose based on compact scaled-axis representation More...
Vector6d	toVector6d () const
	get compact scaled-axis representation of pose More...
double	getYaw () const

Public Attributes
Position	position
Orientation	orientation

Detailed Description

Representation for a pose in 3D.

Stores the position and orientation part separately and is very well suited for storage and interchange, since it is a compact representation.

Constructor & Destructor Documentation

Pose() [1/4]

base::Pose::Pose ( )

inline

Default constructor will initialize to zero.

Pose() [2/4]

base::Pose::Pose ( Position const &  p, Orientation const &  o  )

inline

Pose() [3/4]

base::Pose::Pose ( const Eigen::Affine3d &  t )

inline

constructor based on a 4x4 transform matrix

Parameters

t	4x4 homogenous transform matrix, for which the upper-left 3x3 matrix needs to be a rotation matrix.

Pose() [4/4]

base::Pose::Pose ( const Vector6d &  v )

inline

Member Function Documentation

fromTransform()

void base::Pose::fromTransform ( const Eigen::Affine3d &  t )

inline

set the pose based on a 4x4 matrix

Parameters

t	4x4 homogenous transform matrix, for which the upper-left 3x3 matrix needs to be a rotation matrix.

fromVector6d()

void base::Pose::fromVector6d

(

const Vector6d &

v

)

set pose based on compact scaled-axis representation

Parameters

v	compact 6 vector [r t], where r is a 3 vector representing the rotation in scaled axis form, and t is the translation 3 vector.

getYaw()

double base::Pose::getYaw ( ) const

inline

Returns

yaw (rotation around z-axis) part of the rotational part of the pose

toTransform()

Eigen::Affine3d base::Pose::toTransform ( ) const

inline

transform matrix which represents the pose transform as a 4x4 homogenous matrix

Returns

4x4 homogenous transform matrix

toVector6d()

Vector6d base::Pose::toVector6d

(

)

const

get compact scaled-axis representation of pose

Returns

compact 6 vector [r t], where r is a 3 vector representing the rotation in scaled axis form, and t is the translation 3 vector.

Member Data Documentation

orientation

Orientation base::Pose::orientation

position

Position base::Pose::position

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

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