#include <geometry/hom_pose.h>
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. |
Definition at line 31 of file hom_pose.h.
fawkes::HomPose::HomPose | ( | float | x = 0 , |
|
float | y = 0 , |
|||
float | yaw = 0 | |||
) |
Constructor.
Constructs a two-dimensional pose.
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.
fawkes::HomPose::HomPose | ( | float | x, | |
float | y, | |||
float | z, | |||
float | roll, | |||
float | pitch, | |||
float | yaw | |||
) |
Constructor.
Constructs a three-dimensional pose.
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.
fawkes::HomPose::HomPose | ( | const HomCoord & | h | ) |
Copy constructor.
h | a homogeneous coordinate |
Definition at line 67 of file hom_pose.cpp.
fawkes::HomPose::~HomPose | ( | ) | [virtual] |
void fawkes::HomPose::pitch | ( | float | pitch | ) |
Setter function for pitch.
pitch | the new pitch value |
Definition at line 129 of file hom_pose.cpp.
float & fawkes::HomPose::pitch | ( | ) |
RW-getter for pitch.
Definition at line 120 of file hom_pose.cpp.
float fawkes::HomPose::pitch | ( | ) | const |
HomPoint fawkes::HomPose::pos | ( | ) | const |
Get the positional part of the pose.
Definition at line 165 of file hom_pose.cpp.
References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().
void fawkes::HomPose::roll | ( | float | roll | ) |
Setter function for roll.
roll | the new roll value |
Definition at line 102 of file hom_pose.cpp.
float & fawkes::HomPose::roll | ( | ) |
RW-getter for roll.
Definition at line 93 of file hom_pose.cpp.
float fawkes::HomPose::roll | ( | ) | const |
HomPose & fawkes::HomPose::rotate_x | ( | float | rad | ) | [virtual] |
Convenience function to rotate the HomCoord around the x-axis.
rad | the roation angle in rad |
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.
rad | the roation angle in rad |
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.
rad | the roation angle in rad |
Reimplemented from fawkes::HomCoord.
Definition at line 194 of file hom_pose.cpp.
References fawkes::HomCoord::rotate_z().
void fawkes::HomPose::yaw | ( | float | yaw | ) |
Setter function for yaw.
yaw | the new yaw value |
Definition at line 156 of file hom_pose.cpp.
float & fawkes::HomPose::yaw | ( | ) |
RW-getter for yaw.
Definition at line 147 of file hom_pose.cpp.
float fawkes::HomPose::yaw | ( | ) | const |