Pose6D< T > Class Template Reference

A Pose6D \( \mathbf{x}\in \mathbb{R}^6 \) describes a position and orientation in 3-dimensions. More...

#include <Pose6D.hpp>

Public Member Functions
	Pose6D ()
	Creates an "identity" Pose6D. Position is zero vector and orientation is zero vector.
	Pose6D (T x, T y, T z, T kx, T ky, T kz)
	Creates a Pose6D from 6 parameters. 3 defining the position and 3 defining the EAA orientation. More...
	Pose6D (const rw::math::Vector3D< T > &v3d, const EAA< T > &eaa)
	Creates a Pose6D from a Vector3D and a EAA. More...
	Pose6D (const rw::math::Transform3D< T > &t3d)
	Creates a Pose6D from a Transform3D. More...
T	get (size_t i) const
	Returns the \( i\)'th element in the pose. More...
const rw::math::Vector3D< T > &	getPos () const
	Get the position. More...
rw::math::Vector3D< T > &	getPos ()
	Get the position. More...
const EAA< T > &	getEAA () const
	Get the orientation. More...
EAA< T > &	getEAA ()
	Get the orientation. More...
T	operator() (size_t i) const
	Returns the \(i\)'th element in the pose. More...
T &	operator() (size_t i)
	Returns the \(i\)'th element in the pose. More...
T	operator[] (size_t i) const
	Returns the \(i\)'th element in the pose. More...
T &	operator[] (size_t i)
	Returns the \(i\)'th element in the pose. More...
const rw::math::Transform3D< T >	toTransform3D () const
	Converts the Pose6D into the corresponding Transform3D. More...

Related Functions
(Note that these are not member functions.)
template<>
void	write (const rw::math::Pose6D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	write (const rw::math::Pose6D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	read (rw::math::Pose6D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
template<>
void	read (rw::math::Pose6D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

Detailed Description

template<class T = double>
class rw::math::Pose6D< T >

A Pose6D \( \mathbf{x}\in \mathbb{R}^6 \) describes a position and orientation in 3-dimensions.

\( {\mathbf{x}} = \left[ \begin{array}{c} x \\ y \\ z \\ \theta k_x \\ \theta k_y \\ \theta k_z \end{array} \right] \)

where \( (x,y,z)\) is the 3d position and \( (\theta k_x, \theta k_y, \theta k_z)\) describes the orientation in equal angle axis (EAA) format.

Constructor & Destructor Documentation

Pose6D() [1/3]

Pose6D ( T  x, T  y, T  z, T  kx, T  ky, T  kz  )

inline

Creates a Pose6D from 6 parameters. 3 defining the position and 3 defining the EAA orientation.

Parameters

x	[in] The position in the \( x \) axis
y	[in] The position in the \( y \) axis
z	[in] The position in the \( z \) axis
kx	[in] \( \theta k_x \)
ky	[in] \( \theta k_y \)
kz	[in] \( \theta k_z \)

Pose6D() [2/3]

Pose6D ( const rw::math::Vector3D< T > &  v3d, const EAA< T > &  eaa  )

inline

Creates a Pose6D from a Vector3D and a EAA.

Parameters

v3d	[in] Vector3D describing the 3D position of the Pose6D
eaa	[in] EAA describing the rotational component of the Pose6D.

Pose6D() [3/3]

Pose6D ( const rw::math::Transform3D< T > &  t3d )

inlineexplicit

Creates a Pose6D from a Transform3D.

Parameters

t3d	[in] A Transform3D

Member Function Documentation

get()

T get ( size_t  i ) const

inline

Returns the \( i\)'th element in the pose.

\( i\in\{0,1,2\} \) corresponds to \(\{x,y,z\}\) respectively. \( i\in\{3,4,5\}\) corresponds to the equivalent angle axis.

Parameters

i	[in] index to return

Returns

the \( i\) in the index of the pose.

getEAA() [1/2]

EAA<T>& getEAA ( )

inline

Get the orientation.

Returns

reference to orientation rotation vector.

getEAA() [2/2]

const EAA<T>& getEAA ( ) const

inline

Get the orientation.

Returns

reference to orientation rotation vector.

getPos() [1/2]

rw::math::Vector3D<T>& getPos ( )

inline

Get the position.

Returns

reference to position vector.

getPos() [2/2]

const rw::math::Vector3D<T>& getPos ( ) const

inline

Get the position.

Returns

reference to position vector.

operator()() [1/2]

T& operator() ( size_t  i )

inline

Returns the \(i\)'th element in the pose.

\(i\in\{0,1,2\} \) corresponds to \(\{x,y,z\}\) respectively. \(i\in\{3,4,5\}\) corresponds to the equivalent angle axis.

Parameters

i	[in] index to return

Returns

the \(i\)'th index of the pose.

operator()() [2/2]

T operator() ( size_t  i ) const

inline

Returns the \(i\)'th element in the pose.

\(i\in\{0,1,2\} \) corresponds to \(\{x,y,z\}\) respectively. \(i\in\{3,4,5\}\) corresponds to the equivalent angle axis.

Parameters

i	[in] index to return

Returns

the \(i\)'th index of the pose.

operator[]() [1/2]

T& operator[] ( size_t  i )

inline

Returns the \(i\)'th element in the pose.

\(i\in\{0,1,2\} \) corresponds to \(\{x,y,z\}\) respectively. \(i\in\{3,4,5\}\) corresponds to the equivalent angle axis.

Parameters

i	[in] index to return

Returns

the \(i\)'th index of the pose.

operator[]() [2/2]

T operator[] ( size_t  i ) const

inline

Returns the \(i\)'th element in the pose.

\(i\in\{0,1,2\} \) corresponds to \(\{x,y,z\}\) respectively. \(i\in\{3,4,5\}\) corresponds to the equivalent angle axis.

Parameters

i	[in] index to return

Returns

the \(i\)'th index of the pose.

toTransform3D()

const rw::math::Transform3D<T> toTransform3D ( ) const

inline

Converts the Pose6D into the corresponding Transform3D.

Returns

the corresponding Transform3D

Friends And Related Function Documentation

read() [1/2]

void read ( rw::math::Pose6D< double > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

read() [2/2]

void read ( rw::math::Pose6D< float > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [1/2]

void write ( const rw::math::Pose6D< double > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [2/2]

void write ( const rw::math::Pose6D< float > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

---

The documentation for this class was generated from the following files:

• core/math_fwd.hpp
• Pose6D.hpp