Fawkes API  Fawkes Development Version
fawkes::HomPose Class Reference

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

Additional Inherited Members

- Protected Member Functions inherited from fawkes::HomCoord
 HomCoord (float x=0.0, float y=0.0, float z=0.0, float w=0.0)
 Constructor. More...
 
 HomCoord (const Vector &v)
 Constructor. More...
 
virtual std::ostream & print (std::ostream &stream) const
 Appends the components of the HomCoord to the ostream. More...
 
- Protected Attributes inherited from fawkes::HomCoord
Vectorm_vector
 The internal data container. More...
 

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.

References fawkes::HomCoord::rotate_x().

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.

References fawkes::HomCoord::rotate_y().

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.

References fawkes::HomCoord::rotate_z().

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: