24 #ifndef __GEOMETRY_HOM_POSE_H_
25 #define __GEOMETRY_HOM_POSE_H_
27 #include <geometry/hom_point.h>
42 void roll(
float roll);
46 void pitch(
float pitch);
virtual float y() const
RO-getter for y.
virtual ~HomPose()
Destructor.
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.
A homogeneous pose combines a position with an orienation in space.
float pitch() const
RO-getter for pitch.
virtual float z() const
RO-getter for z.
HomPoint pos() const
Get the positional part of the pose.
Base class for homogeneous primitives (vector and point).
float yaw() const
RO-getter for yaw.
float roll() const
RO-getter for roll.
virtual HomPose & rotate_x(float rad)
Convenience function to rotate the HomCoord around the x-axis.
virtual float x() const
RO-getter for x.
HomPose(float x=0, float y=0, float yaw=0)
Constructor.