fawkes::HomPose Class Reference

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

#include <geometry/hom_pose.h>

Inheritance diagram for fawkes::HomPose:

[legend]
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.

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.

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.

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

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.

float & fawkes::HomPose::pitch (  ) 

RW-getter for pitch.

Returns:
a reference to the pitch variable

Definition at line 120 of file hom_pose.cpp.

float fawkes::HomPose::pitch (  )  const

RO-getter for pitch.

Returns:
the value

Definition at line 111 of file hom_pose.cpp.

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().

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.

float & fawkes::HomPose::roll (  ) 

RW-getter for roll.

Returns:
a reference to the roll variable

Definition at line 93 of file hom_pose.cpp.

float fawkes::HomPose::roll (  )  const

RO-getter for roll.

Returns:
the value

Definition at line 84 of file hom_pose.cpp.

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.

References fawkes::HomCoord::rotate_x().

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.

References fawkes::HomCoord::rotate_y().

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.

References fawkes::HomCoord::rotate_z().

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.

float & fawkes::HomPose::yaw (  ) 

RW-getter for yaw.

Returns:
a reference to the yaw variable

Definition at line 147 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.


The documentation for this class was generated from the following files:
Generated on Tue Feb 22 13:32:50 2011 for Fawkes API by  doxygen 1.4.7