A homogeneous pose combines a position with an orienation in space. More...

#include <>>

Inheritance diagram for fawkes::HomPose:

Public Member Functions
	HomPose (float x=0, float y=0, float yaw=0)
	Constructor.
	HomPose (float x, float y, float z, float roll, float pitch, float yaw)
	Constructor.
	HomPose (const HomCoord &h)
	Copy constructor.
virtual	~HomPose ()
	Destructor.
float	roll () const
	RO-getter for roll.
float &	roll ()
	RW-getter for roll.
void	roll (float roll)
	Setter function for roll.
float	pitch () const
	RO-getter for pitch.
float &	pitch ()
	RW-getter for pitch.
void	pitch (float pitch)
	Setter function for pitch.
float	yaw () const
	RO-getter for yaw.
float &	yaw ()
	RW-getter for yaw.
void	yaw (float yaw)
	Setter function for yaw.
HomPoint	pos () const
	Get the positional part of the pose.
virtual HomPose &	rotate_x (float rad)
	Convenience function to rotate the HomCoord around the x-axis.
virtual HomPose &	rotate_y (float rad)
	Convenience function to rotate the HomCoord around the y-axis.
virtual HomPose &	rotate_z (float rad)
	Convenience function to rotate the HomCoord around the z-axis.
Public Member Functions inherited from fawkes::HomPoint
	HomPoint (float x=0.0, float y=0.0, float z=0.0)
	Constructor.
	HomPoint (cart_coord_2d_t coord)
	Constructor.
	HomPoint (cart_coord_3d_t coord)
	Constructor.
	HomPoint (const HomCoord &h)
	Constructor.
virtual	~HomPoint ()
	Destructor.
float	distance () const
	Obtain distance from the point to the origin.
HomPoint &	move (float dx, float dy, float dz)
	Move the point by the given coordiantes.
HomPoint &	move_to (float x, float y, float z)
	Move the point to the given coordiantes.
HomVector	operator- (const HomPoint &p) const
	Compute the vector between two points.
Public Member Functions inherited from fawkes::HomCoord
	HomCoord (const HomCoord &c)
	Copy constructor.
virtual	~HomCoord ()
	Destructor.
virtual float	x () const
	RO-getter for x.
virtual float &	x ()
	RW-getter for x.
virtual HomCoord &	x (float x)
	Setter function for x.
virtual float	y () const
	RO-getter for y.
virtual float &	y ()
	RW-getter for y.
virtual HomCoord &	y (float y)
	Setter function for y.
virtual float	z () const
	RO-getter for z.
virtual float &	z ()
	RW-getter for z.
virtual HomCoord &	z (float z)
	Setter function for z.
virtual float	w () const
	RO-getter for w.
virtual float &	w ()
	RW-getter for w.
virtual HomCoord &	w (float w)
	Setter function for w.
HomCoord &	transform (const HomTransform &t)
	Transform the vector with the given transform.
virtual HomCoord	operator- (const HomCoord &h) const
	Subtraction operator.
virtual HomCoord &	operator-= (const HomCoord &h)
	Substraction-assignment operator.
virtual HomCoord	operator+ (const HomCoord &h) const
	Addition operator.
virtual HomCoord &	operator+= (const HomCoord &h)
	Addition-assignment operator.
virtual float	operator* (const HomCoord &h) const
	Calculates the dot product of two coords.
virtual HomCoord	operator* (const float s) const
	Mulitplication operator.
virtual HomCoord &	operator*= (const float s)
	Multiplication-assignment operator.
virtual HomCoord &	operator= (const HomCoord &h)
	Assignment operator.
virtual bool	operator== (const HomCoord &h) const
	Comparison operator.
virtual bool	operator!= (const HomCoord &h) const
	Inequality operator.
Public Member Functions inherited from fawkes::Printable
	Printable ()
	Constructor.
virtual	~Printable ()
	Destructor.

Detailed Description

A homogeneous pose combines a position with an orienation in space.

Author:: Daniel Beck

Definition at line 31 of file hom_pose.h.

Constructor & Destructor Documentation

fawkes::HomPose::HomPose	(	float	x = `0`,
		float	y = `0`,
		float	yaw = `0`
	)

Constructor.

Constructs a two-dimensional pose.

Parameters:

x	the x-coordinate of the position
y	the y-coordinate of the position
yaw	the orienations in the xy-plane

Definition at line 39 of file hom_pose.cpp.

References yaw().

fawkes::HomPose::HomPose	(	float	x,
		float	y,
		float	z,
		float	roll,
		float	pitch,
		float	yaw
	)

Constructor.

Constructs a three-dimensional pose.

Parameters:

x	the x-coordinate of the position
y	the y-coordinate of the position
z	the z-coordinate of the position
roll	the orienations in the yz-plane
pitch	the orienations in the xz-plane
yaw	the orienations in the xy-plane

Definition at line 56 of file hom_pose.cpp.

References pitch(), roll(), and yaw().

fawkes::HomPose::HomPose ( const HomCoord & h )

Copy constructor.

Parameters:

h	a homogeneous coordinate

Definition at line 67 of file hom_pose.cpp.

fawkes::HomPose::~HomPose ( )

virtual

Destructor.

Definition at line 76 of file hom_pose.cpp.

Member Function Documentation

float fawkes::HomPose::pitch ( ) const

RO-getter for pitch.

Returns:: the value

Definition at line 111 of file hom_pose.cpp.

Referenced by HomPose(), and pitch().

float & fawkes::HomPose::pitch ( )

RW-getter for pitch.

Returns:: a reference to the pitch variable

Definition at line 120 of file hom_pose.cpp.

void fawkes::HomPose::pitch ( float pitch )

Setter function for pitch.

Parameters:

pitch the new pitch value

Definition at line 129 of file hom_pose.cpp.

References pitch().

HomPoint fawkes::HomPose::pos ( ) const

Get the positional part of the pose.

Returns:: the position

Definition at line 165 of file hom_pose.cpp.

References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().

float fawkes::HomPose::roll ( ) const

RO-getter for roll.

Returns:: the value

Definition at line 84 of file hom_pose.cpp.

Referenced by HomPose(), and roll().

float & fawkes::HomPose::roll ( )

RW-getter for roll.

Returns:: a reference to the roll variable

Definition at line 93 of file hom_pose.cpp.

void fawkes::HomPose::roll ( float roll )

Setter function for roll.

Parameters:

roll	the new roll value

Definition at line 102 of file hom_pose.cpp.

References roll().

HomPose & fawkes::HomPose::rotate_x ( float rad )

virtual

Convenience function to rotate the HomCoord around the x-axis.

Parameters:

rad	the roation angle in rad

Returns:: reference to this

Reimplemented from fawkes::HomCoord.

Definition at line 176 of file hom_pose.cpp.

HomPose & fawkes::HomPose::rotate_y ( float rad )

virtual

Convenience function to rotate the HomCoord around the y-axis.

Parameters:

rad	the roation angle in rad

Returns:: reference to this

Reimplemented from fawkes::HomCoord.

Definition at line 185 of file hom_pose.cpp.

HomPose & fawkes::HomPose::rotate_z ( float rad )

virtual

Convenience function to rotate the HomCoord around the z-axis.

Parameters:

rad	the roation angle in rad

Returns:: reference to this

Reimplemented from fawkes::HomCoord.

Definition at line 194 of file hom_pose.cpp.

float fawkes::HomPose::yaw ( ) const

RO-getter for yaw.

Returns:: the value

Definition at line 138 of file hom_pose.cpp.

Referenced by HomPose(), and yaw().

float & fawkes::HomPose::yaw ( )

RW-getter for yaw.

Returns:: a reference to the yaw variable

Definition at line 147 of file hom_pose.cpp.

void fawkes::HomPose::yaw ( float yaw )

Setter function for yaw.

Parameters:

yaw	the new yaw value

Definition at line 156 of file hom_pose.cpp.

References yaw().

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

src/libs/geometry/hom_pose.h
src/libs/geometry/hom_pose.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation