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fawkes::HomPose Class Reference

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

#include <>>

Inheritance diagram for fawkes::HomPose:

List of all members.

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 HomPoserotate_x (float rad)
 Convenience function to rotate the HomCoord around the x-axis.
virtual HomPoserotate_y (float rad)
 Convenience function to rotate the HomCoord around the y-axis.
virtual HomPoserotate_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.
HomPointmove (float dx, float dy, float dz)
 Move the point by the given coordiantes.
HomPointmove_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 HomCoordx (float x)
 Setter function for x.
virtual float y () const
 RO-getter for y.
virtual float & y ()
 RW-getter for y.
virtual HomCoordy (float y)
 Setter function for y.
virtual float z () const
 RO-getter for z.
virtual float & z ()
 RW-getter for z.
virtual HomCoordz (float z)
 Setter function for z.
virtual float w () const
 RO-getter for w.
virtual float & w ()
 RW-getter for w.
virtual HomCoordw (float w)
 Setter function for w.
HomCoordtransform (const HomTransform &t)
 Transform the vector with the given transform.
virtual HomCoord operator- (const HomCoord &h) const
 Subtraction operator.
virtual HomCoordoperator-= (const HomCoord &h)
 Substraction-assignment operator.
virtual HomCoord operator+ (const HomCoord &h) const
 Addition operator.
virtual HomCoordoperator+= (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 HomCoordoperator*= (const float s)
 Multiplication-assignment operator.
virtual HomCoordoperator= (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:
xthe x-coordinate of the position
ythe y-coordinate of the position
yawthe 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:
xthe x-coordinate of the position
ythe y-coordinate of the position
zthe z-coordinate of the position
rollthe orienations in the yz-plane
pitchthe orienations in the xz-plane
yawthe 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:
ha 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:
pitchthe 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:
rollthe 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:
radthe 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:
radthe 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:
radthe 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:
yawthe 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: