calico::Pose3< T > Class Template Reference

#include <typedefs.h>

Public Member Functions
	Pose3 (const Eigen::Quaternion< T > &q, const Eigen::Vector3< T > &t)
Eigen::Quaternion< T > &	rotation ()
	Rotation accessor.
const Eigen::Quaternion< T > &	rotation () const
Eigen::Vector3< T > &	translation ()
	Translation accessor.
const Eigen::Vector3< T > &	translation () const
void	SetRotation (const Eigen::Vector4< T > &q)
Eigen::Vector4< T >	GetRotation () const
void	SetTranslation (const Eigen::Vector3< T > &t)
	Translation setter for python bindings.
Eigen::Vector3< T >	GetTranslation () const
	Translation getter for python bindings.
Pose3	operator* (const Pose3< T > &T_b_a) const
Eigen::Vector3< T >	operator* (const Eigen::Vector3< T > &p) const
Pose3< T >	inverse () const
bool	isApprox (const Pose3< T > &pose) const
	Convenience method for checking if two poses are close in value.

Friends
std::ostream &	operator<< (std::ostream &os, const Pose3< T > &pose)

Detailed Description

template<typename T>
class calico::Pose3< T >

Pose3 class. This class mainly serves as a container for \(SE(3)\) rigid body transforms.

Member Function Documentation

GetRotation()

template<typename T >

Eigen::Vector4<T> calico::Pose3< T >::GetRotation ( ) const

inline

Rotation getter as a 4-vector for python bindings. Returned quaternion will be in the order \(\left[w, x, y, z\right]\)

inverse()

template<typename T >

Pose3<T> calico::Pose3< T >::inverse ( ) const

inline

Returns the inverse of this transform \(\mathbf{T}^{-1}\). Usage:

Pose3<T> T_rigidbody_world = ...;
Pose3<T> T_world_rigidbody = T_rigidbody_world.inverse();

operator*() [1/2]

template<typename T >

Eigen::Vector3<T> calico::Pose3< T >::operator* ( const Eigen::Vector3< T > &  p ) const

inline

Operator for transforming an Eigen 3-vector by a Pose3 object. Usage:

Pose3<T> T_world_rigidbody = ...;
Eigen::Vector3<T> t_rigidbody_point = ...;
Eigen::Vector3<T> t_world_point = T_world_rigidbody * t_rigidbody_point;

operator*() [2/2]

template<typename T >

Pose3 calico::Pose3< T >::operator* ( const Pose3< T > &  T_b_a ) const

inline

Operator for multiplying two Pose3 objects. Usage:

Pose3<T> T_world_rigidbody = ...;
Pose3<T> T_rigidbody_sensor = ...;
Pose3<T> T_world_sensor = T_world_rigidbody * T_rigidbody_sensor;

SetRotation()

template<typename T >

void calico::Pose3< T >::SetRotation ( const Eigen::Vector4< T > &  q )

inline

Rotation setter as a 4-vector quaternion for python bindings. Quaternion vector must be in the order \(\left[w, x, y, z\right]\)

Friends And Related Function Documentation

operator<<

template<typename T >

std::ostream& operator<< ( std::ostream &  os, const Pose3< T > &  pose  )

friend

Operator for printing a Pose3 object. Usage:

Pose3<T> T = ...;
std::cout << T << std::endl;
>> q: w, x, y, z, t: x, y, z

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

• calico/typedefs.h