Pose

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.

rpos/core/pose.h

/**
* Construct the object with x,y,z,yaw,pitch,roll all set to 0.
*/
Pose();

/**
* Construct the object with specified value.
*/
Pose(const Location&, const Rotation&);

/**
* Construct the object with specified (x,y,z) and the (yaw,pitch,roll) all set to 0.
*/
Pose(const Location&);

/**
* Construct the object with specified (yaw,pitch,roll) and (x,y,z) all set to 0.
*/
Pose(const Rotation&);

/**
* Copy constructor.
*/
Pose(const Pose&);

/**
*  Assignement operator.
*/
Pose& operator=(const Pose&);

/**
*  Compare whether two pose objects are equal to each other.
*/
bool operator==(const Pose&) const;

/**
* getter and setter of the location field.   
*/
const Location& location() const; 
Location& location();

/**
* getter and setter of the rotation field.   
*/
const Rotation& rotation() const; 
Rotation& rotation();

/**
* getter and setter of the x field.
*/
double x() const; 
double& x();

/**
* getter and setter of the y field.
*/
double y() const; 
double& y();

/**
* getter and setter of the z field.
*/
double z() const;
double& z();

/**
* getter and setter of the yaw field.
*/
double yaw() const;
double& yaw();

/**
* getter and setter of the pitch field.
*/
double pitch() const;
double& pitch();

/**
* getter and setter of the roll field.
*/
double roll() const;
double& roll();