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

#include <math/gzmath.hh>

Public Member Functions
	Pose ()
	Default constructors. More...

	Pose (const Vector3 &_pos, const Quaternion &_rot)
	Constructor. More...

	Pose (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Constructor. More...

	Pose (const Pose &_pose)
	Copy constructor. More...

	Pose (const ignition::math::Pose3d &_pose)
	Copy constructor for ignition math. More...

virtual	~Pose ()
	Destructor. More...

Pose	CoordPoseSolve (const Pose &_b) const
	Find the inverse of a pose; i.e., if b = this + a, given b and this, find a. More...

Vector3	CoordPositionAdd (const Vector3 &_pos) const
	Add one point to a vector: result = this + pos. More...

Vector3	CoordPositionAdd (const Pose &_pose) const
	Add one point to another: result = this + pose. More...

Vector3	CoordPositionSub (const Pose &_pose) const
	Subtract one position from another: result = this - pose. More...

Quaternion	CoordRotationAdd (const Quaternion &_rot) const
	Add one rotation to another: result = this->rot + rot. More...

Quaternion	CoordRotationSub (const Quaternion &_rot) const
	Subtract one rotation from another: result = this->rot - rot. More...

void	Correct ()
	Fix any nan values. More...

Pose	GetInverse () const
	Get the inverse of this pose. More...

ignition::math::Pose3d	Ign () const
	Convert this pose to an ignition::math::Pose3d object. More...

bool	IsFinite () const
	See if a pose is finite (e.g., not nan) More...

bool	operator!= (const Pose &_pose) const
	Inequality operator. More...

Pose	operator* (const Pose &_pose)
	Multiplication operator. More...

Pose	operator+ (const Pose &_pose) const
	Addition operator A is the transform from O to P specified in frame O B is the transform from P to Q specified in frame P then, B + A is the transform from O to Q specified in frame O. More...

const Pose &	operator+= (const Pose &_pose)
	Add-Equals operator. More...

Pose	operator- () const
	Negation operator A is the transform from O to P in frame O then -A is transform from P to O specified in frame P. More...

Pose	operator- (const Pose &_pose) const
	Subtraction operator A is the transform from O to P in frame O B is the transform from O to Q in frame O B - A is the transform from P to Q in frame P. More...

const Pose &	operator-= (const Pose &_pose)
	Subtraction operator. More...

Pose &	operator= (const Pose &_pose)
	Equal operator. More...

Pose &	operator= (const ignition::math::Pose3d &_pose)
	Equal operator for ignition math. More...

bool	operator== (const Pose &_pose) const
	Equality operator. More...

void	Reset ()
	Reset the pose. More...

Pose	RotatePositionAboutOrigin (const Quaternion &_rot) const
	Rotate vector part of a pose about the origin. More...

void	Round (int _precision)
	Round all values to _precision decimal places. More...

void	Set (const Vector3 &_pos, const Quaternion &_rot)
	Set the pose from a Vector3 and a Quaternion. More...

void	Set (const Vector3 &_pos, const Vector3 &_rpy)
	Set the pose from pos and rpy vectors. More...

void	Set (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Set the pose from a six tuple. More...

Public Attributes
Vector3	pos
	The position. More...

Quaternion	rot
	The rotation. More...

Static Public Attributes
static const Pose	Zero
	math::Pose(0, 0, 0, 0, 0, 0) More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Pose &_pose)
	Stream insertion operator. More...

std::istream &	operator>> (std::istream &_in, gazebo::math::Pose &_pose)
	Stream extraction operator. More...

Detailed Description

Encapsulates a position and rotation in three space.

Constructor & Destructor Documentation

§ Pose() [1/5]

Pose ( )

Default constructors.

Referenced by Pose::operator-().

§ Pose() [2/5]

Pose	(	const Vector3 &	_pos,
		const Quaternion &	_rot
	)

Constructor.

Parameters

[in]	_pos	A position
[in]	_rot	A rotation

§ Pose() [3/5]

Pose	(	double	_x,
		double	_y,
		double	_z,
		double	_roll,
		double	_pitch,
		double	_yaw
	)

Constructor.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Yaw (rotation about z-axis) in radians.

§ Pose() [4/5]

Pose ( const Pose & _pose )

Copy constructor.

Parameters

[in] _pose Pose to copy

§ Pose() [5/5]

Pose ( const ignition::math::Pose3d & _pose )

Copy constructor for ignition math.

Parameters

[in] _pose Pose to copy

§ ~Pose()

virtual ~Pose ( )

virtual

Destructor.

Member Function Documentation

§ CoordPoseSolve()

Pose CoordPoseSolve ( const Pose & _b ) const

Find the inverse of a pose; i.e., if b = this + a, given b and this, find a.

Parameters

[in] _b the other pose

Referenced by Pose::CoordRotationSub().

§ CoordPositionAdd() [1/2]

Vector3 CoordPositionAdd ( const Vector3 & _pos ) const

Add one point to a vector: result = this + pos.

Parameters

[in] _pos Position to add to this pose

Returns: the resulting position

Referenced by Pose::operator-().

§ CoordPositionAdd() [2/2]

Vector3 CoordPositionAdd ( const Pose & _pose ) const

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

Parameters

[in] _pose The Pose to add

Returns: The resulting position

§ CoordPositionSub()

Vector3 CoordPositionSub ( const Pose & _pose ) const

inline

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

Parameters

[in] _pose Pose to subtract

Returns: The resulting position

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

Referenced by Pose::operator-().

§ CoordRotationAdd()

Quaternion CoordRotationAdd ( const Quaternion & _rot ) const

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

Parameters

[in] _rot Rotation to add

Returns: The resulting rotation

Referenced by Pose::CoordPositionSub().

§ CoordRotationSub()

Quaternion CoordRotationSub ( const Quaternion & _rot ) const

inline

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

Parameters

[in] _rot The rotation to subtract

Returns: The resulting rotation

References Pose::CoordPoseSolve(), Quaternion::GetInverse(), Pose::Ign(), Quaternion::Normalize(), Pose::Reset(), Pose::rot, Pose::RotatePositionAboutOrigin(), and Pose::Round().

Referenced by Pose::operator-().

§ Correct()

void Correct ( )

inline

Fix any nan values.

References Vector3::Correct(), Quaternion::Correct(), Pose::GetInverse(), Pose::operator+(), Pose::operator+=(), Pose::pos, and Pose::rot.

§ GetInverse()

Pose GetInverse ( ) const

Get the inverse of this pose.

Returns: the inverse pose

Referenced by Pose::Correct().

§ Ign()

ignition::math::Pose3d Ign ( ) const

Convert this pose to an ignition::math::Pose3d object.

Returns: This pose represented as an ignition::math::Pose3d.

Referenced by Pose::CoordRotationSub().

§ IsFinite()

bool IsFinite ( ) const

See if a pose is finite (e.g., not nan)

§ operator!=()

bool operator!= ( const Pose & _pose ) const

Inequality operator.

Parameters

[in] _pose Pose for comparison

Returns: True if not equal

Referenced by Pose::operator-().

§ operator*()

Pose operator* ( const Pose & _pose )

Multiplication operator.

Parameters

[in] _pose the other pose

Returns: itself

Referenced by Pose::operator-().

§ operator+()

Pose operator+ ( const Pose & _pose ) const

Addition operator A is the transform from O to P specified in frame O B is the transform from P to Q specified in frame P then, B + A is the transform from O to Q specified in frame O.

Parameters

[in] _pose Pose to add to this pose

Returns: The resulting pose

Referenced by Pose::Correct().

§ operator+=()

const Pose& operator+= ( const Pose & _pose )

Add-Equals operator.

Parameters

[in] _pose Pose to add to this pose

Returns: The resulting pose

Referenced by Pose::Correct().

§ operator-() [1/2]

Pose operator- ( ) const

inline

Negation operator A is the transform from O to P in frame O then -A is transform from P to O specified in frame P.

Returns: The resulting pose

References Pose::Pose().

§ operator-() [2/2]

Pose operator- ( const Pose & _pose ) const

inline

Subtraction operator A is the transform from O to P in frame O B is the transform from O to Q in frame O B - A is the transform from P to Q in frame P.

Parameters

[in] _pose Pose to subtract from this one

Returns: The resulting pose

References Pose::CoordPositionAdd(), Pose::CoordPositionSub(), Pose::CoordRotationSub(), Pose::operator!=(), Pose::operator*(), Pose::operator-=(), Pose::operator=(), Pose::operator==(), Pose::Pose(), and Pose::rot.

§ operator-=()

const Pose& operator-= ( const Pose & _pose )

Subtraction operator.

Parameters

[in] _pose Pose to subtract from this one

Returns: The resulting pose

Referenced by Pose::operator-().

§ operator=() [1/2]

Pose& operator= ( const Pose & _pose )

Equal operator.

Parameters

[in] _pose Pose to copy

Referenced by Pose::operator-().

§ operator=() [2/2]

Pose& operator= ( const ignition::math::Pose3d & _pose )

Equal operator for ignition math.

Parameters

[in] _pose Pose to copy

§ operator==()

bool operator== ( const Pose & _pose ) const

Equality operator.

Parameters

[in] _pose Pose for comparison

Returns: True if equal

Referenced by Pose::operator-().

§ Reset()

void Reset ( )

Reset the pose.

Referenced by Pose::CoordRotationSub().

§ RotatePositionAboutOrigin()

Pose RotatePositionAboutOrigin ( const Quaternion & _rot ) const

Rotate vector part of a pose about the origin.

Parameters

[in] _rot rotation

Returns: the rotated pose

Referenced by Pose::CoordRotationSub().

§ Round()

void Round ( int _precision )

Round all values to _precision decimal places.

Parameters

[in] _precision

Referenced by Pose::CoordRotationSub().

§ Set() [1/3]

void Set	(	const Vector3 &	_pos,
		const Quaternion &	_rot
	)

Set the pose from a Vector3 and a Quaternion.

Parameters

[in]	_pos	The position.
[in]	_rot	The rotation.

§ Set() [2/3]

void Set	(	const Vector3 &	_pos,
		const Vector3 &	_rpy
	)

Set the pose from pos and rpy vectors.

Parameters

[in]	_pos	The position.
[in]	_rpy	The rotation expressed as Euler angles.

§ Set() [3/3]

void Set	(	double	_x,
		double	_y,
		double	_z,
		double	_roll,
		double	_pitch,
		double	_yaw
	)

Set the pose from a six tuple.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Pitch (rotation about z-axis) in radians.

Friends And Related Function Documentation

§ operator<<

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::math::Pose &	_pose
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_pose	pose to output

Returns: the stream

§ operator>>

std::istream& operator>>	(	std::istream &	_in,
		gazebo::math::Pose &	_pose
	)

friend

Stream extraction operator.

Parameters

[in]	_in	the input stream
[in]	_pose	the pose

Returns: the stream

Member Data Documentation

§ pos

Vector3 pos

The position.

Referenced by BulletTypes::ConvertPose(), DARTTypes::ConvPose(), Pose::CoordPositionSub(), Pose::Correct(), ODEPlaneShape::CreatePlane(), Inertial::GetCoG(), BulletSphereShape::SetRadius(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ rot

Quaternion rot

The rotation.

Referenced by BulletTypes::ConvertPose(), DARTTypes::ConvPose(), Pose::CoordPositionSub(), Pose::CoordRotationSub(), Pose::Correct(), and Pose::operator-().

§ Zero

const Pose Zero

static

math::Pose(0, 0, 0, 0, 0, 0)

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

Pose.hh

Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

§ Pose() [1/5]

§ Pose() [2/5]

§ Pose() [3/5]

§ Pose() [4/5]

§ Pose() [5/5]

§ ~Pose()

Member Function Documentation

§ CoordPoseSolve()

§ CoordPositionAdd() [1/2]

§ CoordPositionAdd() [2/2]

§ CoordPositionSub()

§ CoordRotationAdd()

§ CoordRotationSub()

§ Correct()

§ GetInverse()

§ Ign()

§ IsFinite()

§ operator!=()

§ operator*()

§ operator+()

§ operator+=()

§ operator-() [1/2]

§ operator-() [2/2]

§ operator-=()

§ operator=() [1/2]

§ operator=() [2/2]

§ operator==()

§ Reset()

§ RotatePositionAboutOrigin()

§ Round()

§ Set() [1/3]

§ Set() [2/3]

§ Set() [3/3]

Friends And Related Function Documentation

§ operator<<

§ operator>>

Member Data Documentation

§ pos

§ rot

§ Zero