gz/math/Pose3.hh
void SetZ(T z)
Set the Z value of the position.
Definition: gz/math/Pose3.hh:413
Quaternion< T > CoordRotationAdd(const Quaternion< T > &_rot) const
Add one rotation to another: result = this->q + rot.
Definition: gz/math/Pose3.hh:293
Vector3< T > CoordPositionSub(const Pose3< T > &_pose) const
Subtract one position from another: result = this - pose.
Definition: gz/math/Pose3.hh:279
Pose3(T _x, T _y, T _z, T _qw, T _qx, T _qy, T _qz)
Constructor.
Definition: gz/math/Pose3.hh:72
Encapsulates a position and rotation in three space.
Definition: gz/math/Pose3.hh:34
Definition: gz/math/AdditivelySeparableScalarField3.hh:27
Pose3< T > CoordPoseSolve(const Pose3< T > &_b) const
Find the inverse of a pose; i.e., if b = this + a, given b and this, find a.
Definition: gz/math/Pose3.hh:312
const T Yaw() const
Get the Yaw value of the rotation.
Definition: gz/math/Pose3.hh:454
T Roll() const
Get the Euler roll angle in radians.
Definition: gz/math/Quaternion.hh:432
Pose3< T > operator*(const Pose3< T > &_pose) const
Multiplication operator. Given X_OP (frame P relative to O) and X_PQ (frame Q relative to P) then X_O...
Definition: gz/math/Pose3.hh:221
Pose3< T > Inverse() const
Get the inverse of this pose.
Definition: gz/math/Pose3.hh:135
void Set(T _w, T _x, T _y, T _z)
Set this quaternion from 4 floating numbers.
Definition: gz/math/Quaternion.hh:300
bool operator==(const Pose3< T > &_pose) const
Equality operator.
Definition: gz/math/Pose3.hh:203
friend std::ostream & operator<<(std::ostream &_out, const Pose3< T > &_pose)
Stream insertion operator.
Definition: gz/math/Pose3.hh:463
Pose3(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
Constructor.
Definition: gz/math/Pose3.hh:59
Vector3< T > CoordPositionAdd(const Vector3< T > &_pos) const
Add one point to a vector: result = this + pos.
Definition: gz/math/Pose3.hh:248
Vector3< T > CoordPositionAdd(const Pose3< T > &_pose) const
Add one point to another: result = this + pose.
Definition: gz/math/Pose3.hh:263
const T Pitch() const
Get the Pitch value of the rotation.
Definition: gz/math/Pose3.hh:445
Vector3< T > & Pos()
Get a mutable reference to the position.
Definition: gz/math/Pose3.hh:368
const Quaternion< T > & Rot() const
Get the rotation.
Definition: gz/math/Pose3.hh:420
void SetX(T x)
Set X value of the position.
Definition: gz/math/Pose3.hh:383
Quaternion< T > CoordRotationSub(const Quaternion< T > &_rot) const
Subtract one rotation from another: result = this->q - rot.
Definition: gz/math/Pose3.hh:301
void Set(const Vector3< T > &_pos, const Quaternion< T > &_rot)
Set the pose from a Vector3 and a Quaternion<T>
Definition: gz/math/Pose3.hh:92
void Set(const Vector3< T > &_pos, const Vector3< T > &_rpy)
Set the pose from pos and rpy vectors.
Definition: gz/math/Pose3.hh:101
bool IsFinite() const
See if a quaternion is finite (e.g., not nan)
Definition: gz/math/Quaternion.hh:753
void Set(T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
Set the pose from a six tuple.
Definition: gz/math/Pose3.hh:114
const Pose3< T > & operator+=(const Pose3< T > &_pose)
Add-Equals operator.
Definition: gz/math/Pose3.hh:160
void SetY(T y)
Set the Y value of the position.
Definition: gz/math/Pose3.hh:398
void Correct()
Correct any nan values in this quaternion.
Definition: gz/math/Quaternion.hh:764
void Round(int _precision)
Round all values to _precision decimal places.
Definition: gz/math/Quaternion.hh:839
const T Y() const
Get the Y value of the position.
Definition: gz/math/Pose3.hh:392
Pose3< T > operator-() const
Negation operator A is the transform from O to P in frame O then -A is transform from P to O specifie...
Definition: gz/math/Pose3.hh:172
void Normalize()
Normalize the quaternion.
Definition: gz/math/Quaternion.hh:224
bool operator!=(const Pose3< T > &_pose) const
Inequality operator.
Definition: gz/math/Pose3.hh:211
const Vector3< T > & Pos() const
Get the position.
Definition: gz/math/Pose3.hh:361
const T & Y() const
Get the y component.
Definition: gz/math/Quaternion.hh:979
STL class.
const T X() const
Get the X value of the position.
Definition: gz/math/Pose3.hh:377
T setf(T... args)
T Yaw() const
Get the Euler yaw angle in radians.
Definition: gz/math/Quaternion.hh:446
The Vector3 class represents the generic vector containing 3 elements. Since it's commonly used to ke...
Definition: gz/math/Vector3.hh:41
Pose3< T > RotatePositionAboutOrigin(const Quaternion< T > &_q) const
Rotate vector part of a pose about the origin.
Definition: gz/math/Pose3.hh:336
const T & Z() const
Get the z component.
Definition: gz/math/Quaternion.hh:986
Pose3< T > & operator=(const Pose3< T > &_pose)
Assignment operator.
Definition: gz/math/Pose3.hh:238
void Round(int _precision)
Round all values to _precision decimal places.
Definition: gz/math/Pose3.hh:353
void Euler(const Vector3< T > &_vec)
Set the quaternion from Euler angles. The order of operations is roll, pitch, yaw around a fixed body...
Definition: gz/math/Quaternion.hh:313
T Pitch() const
Get the Euler pitch angle in radians.
Definition: gz/math/Quaternion.hh:439
Pose3(const Vector3< T > &_pos, const Quaternion< T > &_rot)
Constructor.
Definition: gz/math/Pose3.hh:47
Quaternion< T > Inverse() const
Get the inverse of this quaternion.
Definition: gz/math/Quaternion.hh:132
const T Roll() const
Get the Roll value of the rotation.
Definition: gz/math/Pose3.hh:436
const T & X() const
Get the x component.
Definition: gz/math/Quaternion.hh:972
const Pose3< T > & operator-=(const Pose3< T > &_pose)
Subtraction operator.
Definition: gz/math/Pose3.hh:192
const Pose3< T > & operator*=(const Pose3< T > &_pose)
Multiplication assignment operator. This pose will become equal to this * _pose.
Definition: gz/math/Pose3.hh:230
STL class.
bool IsFinite() const
See if a pose is finite (e.g., not nan)
Definition: gz/math/Pose3.hh:121
const T Z() const
Get the Z value of the position.
Definition: gz/math/Pose3.hh:407
static const Pose3< T > Zero
math::Pose3<T>(0, 0, 0, 0, 0, 0)
Definition: gz/math/Pose3.hh:37
Pose3< T > operator-(const Pose3< T > &_pose) const
Subtraction operator A is the transform from O to P in frame O B is the transform from O to Q in fram...
Definition: gz/math/Pose3.hh:183
friend std::istream & operator>>(std::istream &_in, Pose3< T > &_pose)
Stream extraction operator.
Definition: gz/math/Pose3.hh:474
const T & W() const
Get the w component.
Definition: gz/math/Quaternion.hh:965
Pose3< T > operator+(const Pose3< T > &_pose) const
Addition operator A is the transform from O to P specified in frame O B is the transform from P to Q ...
Definition: gz/math/Pose3.hh:147
Pose3(const Pose3< T > &_pose)
Copy constructor.
Definition: gz/math/Pose3.hh:79
Quaternion< T > & Rot()
Get a mutable reference to the rotation.
Definition: gz/math/Pose3.hh:427