mf::pose Class Reference

Position and orientation in space. More...

#include <pose.h>

Public Member Functions
	pose ()
	Create identity pose. More...
	pose (const pose &)=default
	Copy-construct pose. More...
	pose (const Eigen_affine3 &)
	Construct pose from affine transformation. More...
template<typename Translation , typename Rotation >
	pose (const Translation &t, const Rotation &r)
	Construct pose with given translation and rotation. More...
Eigen_affine3	transformation_from_world () const
	Affine transformation from world space to pose coordinate system. More...
Eigen_affine3	transformation_to_world () const
	Affine transformation from pose coordinate system to world space. More...
Eigen_affine3	transformation_from (const pose &ps) const
Eigen_affine3	transformation_to (const pose &ps) const
Eigen_vec3	euler_angles (std::ptrdiff_t a0=0, std::ptrdiff_t a1=1, std::ptrdiff_t a2=2) const
std::string	to_string () const
Eigen_vec3	transform_from_world (const Eigen::Vector3f &p) const
Eigen_vec3	transform_to_world (const Eigen::Vector3f &p) const
void	look_at (const Eigen_vec3 &)
void	flip (const Eigen_vec3 &axis=Eigen_vec3::UnitY())
void	invert_orientation ()

Static Public Member Functions
static pose	from_string (const std::string &)

Public Attributes
Eigen_vec3	position
	Position vector. More...
Eigen_quaternion	orientation
	Orientation quaternion. Must be kept normalized. More...

Detailed Description

Position and orientation in space.

Represented in terms of a position, and orientation in world space. The orientation is in the translated space, a pose of an object means that the object was first translated to pose.position, then rotated by pose.orientation. A pose also defines an orthonormal coordinate system, aka the world as seen from a camera at that pose.

Constructor & Destructor Documentation

mf::pose::pose

(

)

Create identity pose.

mf::pose::pose ( const pose &  )

default

Copy-construct pose.

mf::pose::pose

(

const Eigen_affine3 &

t

)

Construct pose from affine transformation.

Transformation is transformation to world. Assumes that the transformation consists only of translation and rotation.

template<typename Translation , typename Rotation >

mf::pose::pose ( const Translation &  t, const Rotation &  r  )

inline

Construct pose with given translation and rotation.

Member Function Documentation

Eigen_vec3 mf::pose::euler_angles	(	std::ptrdiff_t	a0 = 0,
		std::ptrdiff_t	a1 = 1,
		std::ptrdiff_t	a2 = 2
	)		const

void mf::pose::flip

(

const Eigen_vec3 &

axis = Eigen_vec3::UnitY()

)

pose mf::pose::from_string ( const std::string &  str )

static

void mf::pose::invert_orientation

(

)

void mf::pose::look_at

(

const Eigen_vec3 &

target

)

std::string mf::pose::to_string

(

)

const

Eigen_vec3 mf::pose::transform_from_world ( const Eigen::Vector3f &  p ) const

inline

Eigen_vec3 mf::pose::transform_to_world ( const Eigen::Vector3f &  p ) const

inline

Eigen_affine3 mf::pose::transformation_from ( const pose &  ps ) const

inline

Eigen_affine3 mf::pose::transformation_from_world

(

)

const

Affine transformation from world space to pose coordinate system.

Eigen_affine3 mf::pose::transformation_to ( const pose &  ps ) const

inline

Eigen_affine3 mf::pose::transformation_to_world

(

)

const

Affine transformation from pose coordinate system to world space.

Member Data Documentation

Eigen_quaternion mf::pose::orientation

Orientation quaternion. Must be kept normalized.

Eigen_vec3 mf::pose::position

Position vector.

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

• src/geometry/pose.h
• src/geometry/pose.cc