rci::CartesianValue Class Reference

Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More...

#include <CartesianValues.h>

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List of all members.

Public Member Functions

 CartesianValue ()
 CartesianValue (double valx, double valy, double valz, double vala, double valb, double valc, double vald)
 CartesianValue (const nemo::RealVector &values)
 CartesianValue (const CartesianValue &val)
 CartesianValue (const CartesianTranslationalPtr &transl, const CartesianRotationalPtr &rot)
virtual ~CartesianValue ()
virtual double asDouble (unsigned int index) const
 Returns translation and rotation components (quaternion components): $x, y, z, q0, q1, q2, q3$.
virtual nemo::RealVector asDoubleVector () const
 Returns translation and rotation components (quaternion components) as 7-dimensional vector $x, y, z, q0, q1, q2, q3$.
virtual void setValue (unsigned int index, double value)
 Sets double values (in-place), index 0-2 set Translation in default representation, index 3-6 sets Orientation in default representation.
virtual double x () const
 Domain specific getter for 1st translatory value.
virtual double y () const
 Domain specific getter for 2nd translatory value.
virtual double z () const
 Domain specific getter for 3rd translatory value.
virtual double a () const
 Domain specific getter for 1st rotatory value.
virtual double b () const
 Domain specific getter for 2nd rotatory value.
virtual double c () const
 Domain specific getter for 3rd rotatory value.
virtual double q0 () const
 Domain specific getter for 1st rotatory value.
virtual double q1 () const
 Domain specific getter for 2nd rotatory value.
virtual double q2 () const
 Domain specific getter for 3rd rotatory value.
virtual double q3 () const
 Domain specific getter for 3rd rotatory value.
virtual unsigned int getDimension () const
 Get dimension / number of values.

Public Attributes

CartesianTranslational _transl
CartesianRotational _rot

Detailed Description

Domain object, representing a full cartesian pose, consisting of translational transformation and orientation.

Definition at line 243 of file CartesianValues.h.

Constructor & Destructor Documentation

rci::CartesianValue::CartesianValue (  ) 

Definition at line 339 of file CartesianValues.cpp.

rci::CartesianValue::CartesianValue ( double  valx,
double  valy,
double  valz,
double  vala,
double  valb,
double  valc,
double  vald 
)

Definition at line 346 of file CartesianValues.cpp.

rci::CartesianValue::CartesianValue ( const nemo::RealVector &  values  ) 
rci::CartesianValue::CartesianValue ( const CartesianValue &  val  ) 

Definition at line 352 of file CartesianValues.cpp.

rci::CartesianValue::CartesianValue ( const CartesianTranslationalPtr &  transl,
const CartesianRotationalPtr &  rot 
)

Definition at line 356 of file CartesianValues.cpp.

rci::CartesianValue::~CartesianValue (  )  [virtual]

Definition at line 343 of file CartesianValues.cpp.

Member Function Documentation

double rci::CartesianValue::a (  )  const [virtual]

Domain specific getter for 1st rotatory value.

Returns:
1st rotatory value

Reimplemented in rci::Pose.

Definition at line 435 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::a().

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double rci::CartesianValue::asDouble ( unsigned int  index  )  const [virtual]

Returns translation and rotation components (quaternion components): $x, y, z, q0, q1, q2, q3$.

Parameters:
index Index to receive
Returns:
Translation or rotation component

Definition at line 371 of file CartesianValues.cpp.

References _rot, _transl, and rci::CartesianRotational::asDouble().

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RealVector rci::CartesianValue::asDoubleVector (  )  const [virtual]

Returns translation and rotation components (quaternion components) as 7-dimensional vector $x, y, z, q0, q1, q2, q3$.

Returns:
7-dimensional vector $x, y, z, q0, q1, q2, q3$

Definition at line 382 of file CartesianValues.cpp.

References _rot, _transl, and rci::CartesianRotational::asDouble().

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double rci::CartesianValue::b (  )  const [virtual]

Domain specific getter for 2nd rotatory value.

Returns:
2nd rotatory value

Reimplemented in rci::Pose.

Definition at line 439 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::b().

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double rci::CartesianValue::c (  )  const [virtual]

Domain specific getter for 3rd rotatory value.

Returns:
3rd rotatory value

Reimplemented in rci::Pose.

Definition at line 443 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::c().

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unsigned int rci::CartesianValue::getDimension (  )  const [virtual]

Get dimension / number of values.

Returns:
Number of contained values (6)

Definition at line 447 of file CartesianValues.cpp.

double rci::CartesianValue::q0 (  )  const [virtual]

Domain specific getter for 1st rotatory value.

Returns:
1st rotatory value

Reimplemented in rci::Pose.

Definition at line 419 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::q0().

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double rci::CartesianValue::q1 (  )  const [virtual]

Domain specific getter for 2nd rotatory value.

Returns:
2nd rotatory value

Reimplemented in rci::Pose.

Definition at line 423 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::q1().

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double rci::CartesianValue::q2 (  )  const [virtual]

Domain specific getter for 3rd rotatory value.

Returns:
3rd rotatory value

Reimplemented in rci::Pose.

Definition at line 427 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::q2().

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double rci::CartesianValue::q3 (  )  const [virtual]

Domain specific getter for 3rd rotatory value.

Returns:
3rd rotatory value

Reimplemented in rci::Pose.

Definition at line 431 of file CartesianValues.cpp.

References _rot, and rci::CartesianRotational::q3().

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void rci::CartesianValue::setValue ( unsigned int  index,
double  value 
) [virtual]

Sets double values (in-place), index 0-2 set Translation in default representation, index 3-6 sets Orientation in default representation.

Parameters:
index Index to set value at
value Desired value

Definition at line 396 of file CartesianValues.cpp.

References _rot, _transl, and rci::CartesianRotational::setValue().

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double rci::CartesianValue::x (  )  const [virtual]

Domain specific getter for 1st translatory value.

Returns:
1st translatory value

Reimplemented in rci::Pose.

Definition at line 407 of file CartesianValues.cpp.

References _transl, and rci::CartesianTranslational::x().

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double rci::CartesianValue::y (  )  const [virtual]

Domain specific getter for 2nd translatory value.

Returns:
2nd translatory value

Reimplemented in rci::Pose.

Definition at line 411 of file CartesianValues.cpp.

References _transl, and rci::CartesianTranslational::y().

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double rci::CartesianValue::z (  )  const [virtual]

Domain specific getter for 3rd translatory value.

Returns:
3rd translatory value

Reimplemented in rci::Pose.

Definition at line 415 of file CartesianValues.cpp.

References _transl, and rci::CartesianTranslational::z().

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Member Data Documentation

CartesianRotational rci::CartesianValue::_rot

Definition at line 247 of file CartesianValues.h.

Referenced by a(), rci::Pose::a(), asDouble(), asDoubleVector(), b(), rci::Pose::b(), c(), rci::Pose::c(), rci::CartesianImpedance::CartesianImpedance(), rci::Pose::print(), q0(), rci::Pose::q0(), q1(), rci::Pose::q1(), q2(), rci::Pose::q2(), q3(), rci::Pose::q3(), and setValue().

CartesianTranslational rci::CartesianValue::_transl

Definition at line 246 of file CartesianValues.h.

Referenced by asDouble(), asDoubleVector(), rci::CartesianImpedance::CartesianImpedance(), rci::Pose::print(), setValue(), x(), rci::Pose::x(), y(), rci::Pose::y(), z(), and rci::Pose::z().

The documentation for this class was generated from the following files:
Generated on Thu Aug 2 14:03:03 2012 for RCI by  doxygen 1.6.3