rci::Pose Class Reference
Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More...
#include <CartesianPose.h>
Public Member Functions | |
Pose () | |
Pose (double valx, double valy, double valz, double vala, double valb, double valc, double vald) | |
Pose (double valx, double valy, double valz, double a, double b, double c) | |
Pose (const nemo::RealVector &values) | |
Pose (const Pose &pose) | |
Pose (const TranslationPtr &transl, const OrientationPtr &rot) | |
virtual TranslationPtr | getTranslation () const |
Returns just the 3-dimensional translational part of this Pose. | |
virtual OrientationPtr | getOrientation () const |
Returns just the rotational part of this Pose. | |
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 | q0 () const |
First quaternion component. | |
virtual double | q1 () const |
Second quaternion component. | |
virtual double | q2 () const |
Third quaternion component. | |
virtual double | q3 () const |
Fourth quaternion component. | |
virtual double | a () const |
First euler angle from x, y, z - right-handed. | |
virtual double | b () const |
Second euler angle from x, y, z - right-handed. | |
virtual double | c () const |
Third euler angle from x, y, z - right-handed. | |
virtual std::string | print () const |
Printing the pose object. | |
Static Public Member Functions | |
static PosePtr | fromMetersAndRadians (double x, double y, double z, double q0, double q1, double q2, double q3) |
Shared Pointer. | |
static PosePtr | fromMetersAndRadians (double x, double y, double z, double a, double b, double c) |
static PosePtr | fromMetersAndRadiansHomogeneous (double rxx, double rxy, double rxz, double tx, double ryx, double ryy, double ryz, double ty, double rzx, double rzy, double rzz, double tz) |
Creates pose from homogeneous translation. | |
static PosePtr | fromMetersAndRadiansHomogeneous (const nemo::RealMatrix &homogeneous) |
Creates pose from homogeneous translation matrix. |
Detailed Description
Domain object, representing a full cartesian pose, consisting of translational transformation and orientation.
Default units are ().
Definition at line 165 of file CartesianPose.h.
Constructor & Destructor Documentation
rci::Pose::Pose | ( | ) |
Definition at line 168 of file CartesianPose.cpp.
Referenced by fromMetersAndRadians(), and fromMetersAndRadiansHomogeneous().
rci::Pose::Pose | ( | double | valx, | |
double | valy, | |||
double | valz, | |||
double | vala, | |||
double | valb, | |||
double | valc, | |||
double | vald | |||
) |
Definition at line 172 of file CartesianPose.cpp.
rci::Pose::Pose | ( | double | valx, | |
double | valy, | |||
double | valz, | |||
double | a, | |||
double | b, | |||
double | c | |||
) |
Definition at line 177 of file CartesianPose.cpp.
rci::Pose::Pose | ( | const nemo::RealVector & | values | ) |
rci::Pose::Pose | ( | const Pose & | pose | ) |
Definition at line 186 of file CartesianPose.cpp.
rci::Pose::Pose | ( | const TranslationPtr & | transl, | |
const OrientationPtr & | rot | |||
) |
Definition at line 194 of file CartesianPose.cpp.
Member Function Documentation
double rci::Pose::a | ( | ) | const [virtual] |
First euler angle from x, y, z - right-handed.
- Returns:
- Euler x-angle from x, y, z - right-handed. ($rad$)
Reimplemented from rci::CartesianValue.
Definition at line 219 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::a().
double rci::Pose::b | ( | ) | const [virtual] |
Second euler angle from x, y, z - right-handed.
- Returns:
- Euler y-angle from x, y, z - right-handed. ($rad$)
Reimplemented from rci::CartesianValue.
Definition at line 223 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::b().
double rci::Pose::c | ( | ) | const [virtual] |
Third euler angle from x, y, z - right-handed.
- Returns:
- Euler z-angle from x, y, z - right-handed. ($rad$)
Reimplemented from rci::CartesianValue.
Definition at line 227 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::c().
PosePtr rci::Pose::fromMetersAndRadians | ( | double | x, | |
double | y, | |||
double | z, | |||
double | a, | |||
double | b, | |||
double | c | |||
) | [static] |
Definition at line 253 of file CartesianPose.cpp.
References rci::Orientation::fromEulerAngles(), rci::Translation::fromMeters(), and Pose().
PosePtr rci::Pose::fromMetersAndRadians | ( | double | x, | |
double | y, | |||
double | z, | |||
double | q0, | |||
double | q1, | |||
double | q2, | |||
double | q3 | |||
) | [static] |
Shared Pointer.
Definition at line 247 of file CartesianPose.cpp.
References Pose().
static PosePtr rci::Pose::fromMetersAndRadiansHomogeneous | ( | const nemo::RealMatrix & | homogeneous | ) | [static] |
Creates pose from homogeneous translation matrix.
We expect a 3x4 matrix, which is only the three top rows of the 4x4 matrix, the last row (0, 0, 0, 1) is not necessary.
- Parameters:
-
homogeneous Homogeneous transformation as 3x4 matrix like: | rxx rxy rxz tx | | ryx ryy ryz ty | | rzx rzy rzz tz |
- Returns:
- Shared pointer to newly created pose
PosePtr rci::Pose::fromMetersAndRadiansHomogeneous | ( | double | rxx, | |
double | rxy, | |||
double | rxz, | |||
double | tx, | |||
double | ryx, | |||
double | ryy, | |||
double | ryz, | |||
double | ty, | |||
double | rzx, | |||
double | rzy, | |||
double | rzz, | |||
double | tz | |||
) | [static] |
Creates pose from homogeneous translation.
We expect only the three top rows of the 4x4 matrix, the last row (0, 0, 0, 1) is not necessary. Provide matrix like: | rxx rxy rxz tx | | ryx ryy ryz ty | | rzx rzy rzz tz |
- Parameters:
-
rxx Top-left matrix value
- Returns:
- Shared pointer to newly created pose
Definition at line 261 of file CartesianPose.cpp.
References rci::Translation::fromMeters(), rci::Orientation::fromRotationMatrix(), and Pose().
OrientationPtr rci::Pose::getOrientation | ( | ) | const [virtual] |
Returns just the rotational part of this Pose.
- Returns:
- Rotational part of this Pose.
Definition at line 202 of file CartesianPose.cpp.
References rci::Orientation::fromQuaternion(), q0(), q1(), q2(), and q3().
TranslationPtr rci::Pose::getTranslation | ( | ) | const [virtual] |
Returns just the 3-dimensional translational part of this Pose.
- Returns:
- Translational part of this Pose.
Definition at line 198 of file CartesianPose.cpp.
References rci::Translation::fromMeters(), x(), y(), and z().
std::string rci::Pose::print | ( | ) | const [virtual] |
Printing the pose object.
- Returns:
- Textual representation of this pose.
Definition at line 279 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianValue::_transl.
double rci::Pose::q0 | ( | ) | const [virtual] |
First quaternion component.
- Returns:
- First quaternion component
Reimplemented from rci::CartesianValue.
Definition at line 231 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::q0().
Referenced by getOrientation().
double rci::Pose::q1 | ( | ) | const [virtual] |
Second quaternion component.
- Returns:
- Second quaternion component
Reimplemented from rci::CartesianValue.
Definition at line 235 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::q1().
Referenced by getOrientation().
double rci::Pose::q2 | ( | ) | const [virtual] |
Third quaternion component.
- Returns:
- Third quaternion component
Reimplemented from rci::CartesianValue.
Definition at line 239 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::q2().
Referenced by getOrientation().
double rci::Pose::q3 | ( | ) | const [virtual] |
Fourth quaternion component.
- Returns:
- Fourth quaternion component
Reimplemented from rci::CartesianValue.
Definition at line 243 of file CartesianPose.cpp.
References rci::CartesianValue::_rot, and rci::CartesianRotational::q3().
Referenced by getOrientation().
double rci::Pose::x | ( | ) | const [virtual] |
Domain specific getter for 1st translatory value.
- Returns:
- 1st translatory value in meter
Reimplemented from rci::CartesianValue.
Definition at line 207 of file CartesianPose.cpp.
References rci::CartesianValue::_transl, and rci::CartesianTranslational::x().
Referenced by getTranslation().
double rci::Pose::y | ( | ) | const [virtual] |
Domain specific getter for 2nd translatory value.
- Returns:
- 2nd translatory value in meter
Reimplemented from rci::CartesianValue.
Definition at line 211 of file CartesianPose.cpp.
References rci::CartesianValue::_transl, and rci::CartesianTranslational::y().
Referenced by getTranslation().
double rci::Pose::z | ( | ) | const [virtual] |
Domain specific getter for 3rd translatory value.
- Returns:
- 3rd translatory value in meter
Reimplemented from rci::CartesianValue.
Definition at line 215 of file CartesianPose.cpp.
References rci::CartesianValue::_transl, and rci::CartesianTranslational::z().
Referenced by getTranslation().
The documentation for this class was generated from the following files:
- rci/dto/CartesianPose.h
- rci/dto/CartesianPose.cpp
Generated on Thu Aug 2 14:03:00 2012 for RCI by 1.6.3