Fawkes API
Fawkes Development Version
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A homogeneous pose combines a position with an orienation in space. More...
#include <>>
Public Member Functions | |
HomPose (float x=0, float y=0, float yaw=0) | |
Constructor. More... | |
HomPose (float x, float y, float z, float roll, float pitch, float yaw) | |
Constructor. More... | |
HomPose (const HomCoord &h) | |
Copy constructor. More... | |
virtual | ~HomPose () |
Destructor. More... | |
float | roll () const |
RO-getter for roll. More... | |
float & | roll () |
RW-getter for roll. More... | |
void | roll (float roll) |
Setter function for roll. More... | |
float | pitch () const |
RO-getter for pitch. More... | |
float & | pitch () |
RW-getter for pitch. More... | |
void | pitch (float pitch) |
Setter function for pitch. More... | |
float | yaw () const |
RO-getter for yaw. More... | |
float & | yaw () |
RW-getter for yaw. More... | |
void | yaw (float yaw) |
Setter function for yaw. More... | |
HomPoint | pos () const |
Get the positional part of the pose. More... | |
virtual HomPose & | rotate_x (float rad) |
Convenience function to rotate the HomCoord around the x-axis. More... | |
virtual HomPose & | rotate_y (float rad) |
Convenience function to rotate the HomCoord around the y-axis. More... | |
virtual HomPose & | rotate_z (float rad) |
Convenience function to rotate the HomCoord around the z-axis. More... | |
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HomPoint (float x=0.0, float y=0.0, float z=0.0) | |
Constructor. More... | |
HomPoint (cart_coord_2d_t coord) | |
Constructor. More... | |
HomPoint (cart_coord_3d_t coord) | |
Constructor. More... | |
HomPoint (const HomCoord &h) | |
Constructor. More... | |
virtual | ~HomPoint () |
Destructor. More... | |
float | distance () const |
Obtain distance from the point to the origin. More... | |
HomPoint & | move (float dx, float dy, float dz) |
Move the point by the given coordiantes. More... | |
HomPoint & | move_to (float x, float y, float z) |
Move the point to the given coordiantes. More... | |
HomVector | operator- (const HomPoint &p) const |
Compute the vector between two points. More... | |
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HomCoord (const HomCoord &c) | |
Copy constructor. More... | |
virtual | ~HomCoord () |
Destructor. More... | |
virtual float | x () const |
RO-getter for x. More... | |
virtual float & | x () |
RW-getter for x. More... | |
virtual HomCoord & | x (float x) |
Setter function for x. More... | |
virtual float | y () const |
RO-getter for y. More... | |
virtual float & | y () |
RW-getter for y. More... | |
virtual HomCoord & | y (float y) |
Setter function for y. More... | |
virtual float | z () const |
RO-getter for z. More... | |
virtual float & | z () |
RW-getter for z. More... | |
virtual HomCoord & | z (float z) |
Setter function for z. More... | |
virtual float | w () const |
RO-getter for w. More... | |
virtual float & | w () |
RW-getter for w. More... | |
virtual HomCoord & | w (float w) |
Setter function for w. More... | |
HomCoord & | transform (const HomTransform &t) |
Transform the vector with the given transform. More... | |
virtual HomCoord | operator- (const HomCoord &h) const |
Subtraction operator. More... | |
virtual HomCoord & | operator-= (const HomCoord &h) |
Substraction-assignment operator. More... | |
virtual HomCoord | operator+ (const HomCoord &h) const |
Addition operator. More... | |
virtual HomCoord & | operator+= (const HomCoord &h) |
Addition-assignment operator. More... | |
virtual float | operator* (const HomCoord &h) const |
Calculates the dot product of two coords. More... | |
virtual HomCoord | operator* (const float s) const |
Mulitplication operator. More... | |
virtual HomCoord & | operator*= (const float s) |
Multiplication-assignment operator. More... | |
virtual HomCoord & | operator= (const HomCoord &h) |
Assignment operator. More... | |
virtual bool | operator== (const HomCoord &h) const |
Comparison operator. More... | |
virtual bool | operator!= (const HomCoord &h) const |
Inequality operator. More... | |
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Printable () | |
Constructor. More... | |
virtual | ~Printable () |
Destructor. More... | |
Additional Inherited Members | |
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HomCoord (float x=0.0, float y=0.0, float z=0.0, float w=0.0) | |
Constructor. More... | |
HomCoord (const Vector &v) | |
Constructor. More... | |
virtual std::ostream & | print (std::ostream &stream) const |
Appends the components of the HomCoord to the ostream. More... | |
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Vector * | m_vector |
The internal data container. More... | |
A homogeneous pose combines a position with an orienation in space.
Definition at line 31 of file hom_pose.h.
fawkes::HomPose::HomPose | ( | float | x = 0 , |
float | y = 0 , |
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float | yaw = 0 |
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Constructor.
Constructs a two-dimensional pose.
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.
References yaw().
fawkes::HomPose::HomPose | ( | float | x, |
float | y, | ||
float | z, | ||
float | roll, | ||
float | pitch, | ||
float | yaw | ||
) |
Constructor.
Constructs a three-dimensional pose.
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 | ) |
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virtual |
Destructor.
Definition at line 76 of file hom_pose.cpp.
float fawkes::HomPose::pitch | ( | ) | const |
float & fawkes::HomPose::pitch | ( | ) |
RW-getter for pitch.
Definition at line 120 of file hom_pose.cpp.
void fawkes::HomPose::pitch | ( | float | pitch | ) |
Setter function for pitch.
pitch | the new pitch value |
Definition at line 129 of file hom_pose.cpp.
References pitch().
HomPoint fawkes::HomPose::pos | ( | ) | const |
Get the positional part of the pose.
Definition at line 165 of file hom_pose.cpp.
References fawkes::HomCoord::x(), fawkes::HomCoord::y(), and fawkes::HomCoord::z().
float fawkes::HomPose::roll | ( | ) | const |
float & fawkes::HomPose::roll | ( | ) |
RW-getter for roll.
Definition at line 93 of file hom_pose.cpp.
void fawkes::HomPose::roll | ( | float | roll | ) |
Setter function for roll.
roll | the new roll value |
Definition at line 102 of file hom_pose.cpp.
References roll().
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virtual |
Convenience function to rotate the HomCoord around the x-axis.
rad | the roation angle in rad |
Reimplemented from fawkes::HomCoord.
Definition at line 176 of file hom_pose.cpp.
References fawkes::HomCoord::rotate_x().
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virtual |
Convenience function to rotate the HomCoord around the y-axis.
rad | the roation angle in rad |
Reimplemented from fawkes::HomCoord.
Definition at line 185 of file hom_pose.cpp.
References fawkes::HomCoord::rotate_y().
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virtual |
Convenience function to rotate the HomCoord around the z-axis.
rad | the roation angle in rad |
Reimplemented from fawkes::HomCoord.
Definition at line 194 of file hom_pose.cpp.
References fawkes::HomCoord::rotate_z().
float fawkes::HomPose::yaw | ( | ) | const |
float & fawkes::HomPose::yaw | ( | ) |
RW-getter for yaw.
Definition at line 147 of file hom_pose.cpp.
void fawkes::HomPose::yaw | ( | float | yaw | ) |
Setter function for yaw.
yaw | the new yaw value |
Definition at line 156 of file hom_pose.cpp.
References yaw().