rpos::core::Pose Class

Pose contains both Location and Rotation data. It represents a 6-DOF pose(x,y,z,yaw,pitch,roll) in 3d world.

Header File

rpos/core/pose.h

Applies to

• Slamware
• Mapper

Constructors

Pose()

Construct the object with x,y,z,yaw,pitch,roll all set to 0

Pose(const Location&, const Rotation&)

Construct the object with specified value.

Pose(const Location&)

Construct the object with specified (x,y,z) and the (yaw,pitch,roll) all set to 0

Pose(const Rotation&)

Construct the object with specified (yaw,pitch,roll) and (x,y,z) all set to 0.

Pose(const Pose&)

Copy constructor.

Operators

Pose& operator=(const Pose&)

Assignement operator

bool operator==(const Pose&) const

Compare whether two pose objects are equal to each other.

Methods

const Location& location() const; Location& location()

getter and setter of the location field.

const Rotation& rotation() const; Rotation& rotation()

getter and setter of the rotation field

double x() const; double& x()

getter and setter of the x field.

double y() const; double& y()

getter and setter of the y field.

double z() const;double& z()

getter and setter of the z field.

double yaw() const;double& yaw()

getter and setter of the yaw field.

double pitch() const;double& pitch()

getter and setter of the pitch field.

double roll() const, double& roll()

getter and setter of the roll field.