34#ifndef OCTOMATH_POSE6D_H
35#define OCTOMATH_POSE6D_H
176 std::ostream&
write(std::ostream &s)
const;
182 std::istream&
read(std::istream &s);
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
const float & z() const
Definition: Pose6D.h:107
const float & x() const
Definition: Pose6D.h:105
Quaternion rotation
Definition: Pose6D.h:198
Pose6D inv() const
Inversion.
Definition: Pose6D.cpp:70
float & y()
Definition: Pose6D.h:103
double roll() const
Definition: Pose6D.h:109
float & z()
Definition: Pose6D.h:104
Vector3 translation
Definition: Pose6D.h:197
Pose6D()
Definition: Pose6D.cpp:39
const Pose6D & operator*=(const Pose6D &p)
In place concatenation.
Definition: Pose6D.cpp:97
std::ostream & write(std::ostream &s) const
Output operator.
Definition: Pose6D.cpp:131
const float & y() const
Definition: Pose6D.h:106
const Vector3 & trans() const
Translational component.
Definition: Pose6D.h:94
~Pose6D()
Definition: Pose6D.cpp:55
Quaternion & rot()
Rotational component.
Definition: Pose6D.h:88
bool operator!=(const Pose6D &other) const
Definition: Pose6D.cpp:120
double distance(const Pose6D &other) const
Translational distance.
Definition: Pose6D.cpp:103
double transLength() const
Translational length.
Definition: Pose6D.cpp:110
std::istream & readBinary(std::istream &s)
Binary input operator.
Definition: Pose6D.cpp:139
Pose6D operator*(const Pose6D &p) const
Concatenation.
Definition: Pose6D.cpp:91
const Quaternion & rot() const
Rotational component.
Definition: Pose6D.h:99
Vector3 & trans()
Translational component.
Definition: Pose6D.h:82
double yaw() const
Definition: Pose6D.h:111
bool operator==(const Pose6D &other) const
Definition: Pose6D.cpp:115
Vector3 transform(const Vector3 &v) const
Transformation of a vector.
Definition: Pose6D.cpp:85
Pose6D & inv_IP()
Inversion.
Definition: Pose6D.cpp:78
double pitch() const
Definition: Pose6D.h:110
float & x()
Definition: Pose6D.h:102
std::ostream & writeBinary(std::ostream &s) const
Binary output operator.
Definition: Pose6D.cpp:146
Pose6D & operator=(const Pose6D &other)
Definition: Pose6D.cpp:63
std::istream & read(std::istream &s)
Input operator.
Definition: Pose6D.cpp:124
This class represents a Quaternion.
Definition: Quaternion.h:56
Vector3 toEuler() const
Conversion to Euler angles.
Definition: Quaternion.cpp:124
This class represents a three-dimensional vector.
Definition: Vector3.h:50
Namespace of the math library in OctoMap.
std::ostream & operator<<(std::ostream &s, const Pose6D &p)
user friendly output in format (x y z, u x y z) which is (translation, rotation)
Definition: Pose6D.cpp:152