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