The Pose3 class represents a 3D position and rotation. The position component is a Vector3, and the rotation is a Quaternion. More...

#include <gz/math/Pose3.hh>

Public Member Functions
	Pose3 ()=default
	Default constructor. This initializes the position component to zero and the quaternion to identity.

	Pose3 (const Vector3< T > &_pos, const Quaternion< T > &_rot)
	Create a Pose3 based on a position and rotation.

	Pose3 (T _x, T _y, T _z, T _qw, T _qx, T _qy, T _qz)
	Create a Pose3 using a 7-tuple consisting of x, y, z, qw, qx, qy, qz. The first three values are the position and the last four the rotation represented as a quaternion.

	Pose3 (T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
	Create a Pose3 using a 6-tuple consisting of x, y, z, roll, pitch, and yaw.

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.

Vector3< T >	CoordPositionAdd (const Pose3< T > &_pose) const
	Add one pose to another: result = this + pose.

Vector3< T >	CoordPositionAdd (const Vector3< T > &_pos) const
	Add one point to a vector: result = this + pos.

Vector3< T >	CoordPositionSub (const Pose3< T > &_pose) const
	Subtract one position from another: result = this - pose.

Quaternion< T >	CoordRotationAdd (const Quaternion< T > &_rot) const
	Add one rotation to another: result = this->q + rot.

Quaternion< T >	CoordRotationSub (const Quaternion< T > &_rot) const
	Subtract one rotation from another: result = this->q - rot.

void	Correct ()
	Fix any nan values.

bool	Equal (const Pose3 &_p, const T &_tol) const
	Equality test with tolerance.

Pose3< T >	Inverse () const
	Get the inverse of this pose.

bool	IsFinite () const
	See if a pose is finite (e.g., not nan)

bool	operator!= (const Pose3< T > &_pose) const
	Inequality operator.

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_OQ = X_OP * X_PQ (frame Q relative to O).

const Pose3< T > &	operator*= (const Pose3< T > &_pose)
	Multiplication assignment operator. This pose will become equal to this * _pose.

bool	operator== (const Pose3< T > &_pose) const
	Equality operator.

const T	Pitch () const
	Get the Pitch value of the rotation.

Vector3< T > &	Pos ()
	Get a mutable reference to the position.

const Vector3< T > &	Pos () const
	Get the position.

void	Reset ()
	Reset the pose. This sets the position to zero and the rotation to identify.

const T	Roll () const
	Get the Roll value of the rotation.

Quaternion< T > &	Rot ()
	Get a mutable reference to the rotation.

const Quaternion< T > &	Rot () const
	Get the rotation.

Pose3< T >	RotatePositionAboutOrigin (const Quaternion< T > &_q) const
	Rotate the vector part of a pose about the origin.

void	Round (int _precision)
	Round all values to _precision decimal places.

void	Set (const Vector3< T > &_pos, const Quaternion< T > &_rot)
	Set the pose from a Vector3<T> and a Quaternion<T>

void	Set (const Vector3< T > &_pos, const Vector3< T > &_rpy)
	Set the pose from a position and Euler angles.

void	Set (T _x, T _y, T _z, T _roll, T _pitch, T _yaw)
	Set the pose from a six tuple consisting of x, y, z, roll, pitch, and yaw.

void	SetX (T x)
	Set X value of the position.

void	SetY (T y)
	Set the Y value of the position.

void	SetZ (T z)
	Set the Z value of the position.

const T	X () const
	Get the X value of the position.

const T	Y () const
	Get the Y value of the position.

const T	Yaw () const
	Get the Yaw value of the rotation.

const T	Z () const
	Get the Z value of the position.

Static Public Attributes
static const Pose3< T > &	Zero = detail::gPose3Zero<T>
	A Pose3 initialized to zero. This is equivalent to math::Pose3<T>(0, 0, 0, 0, 0, 0).

Detailed Description

template<typename T>
class gz::math::Pose3< T >

The Pose3 class represents a 3D position and rotation. The position component is a Vector3, and the rotation is a Quaternion.

The following two type definitions are provided:

Examples

C++

#include <iostream>
#include <gz/math/Pose3.hh>
 
int main(int argc, char **argv)
{
  // Construct a default Pose3d.
  gz::math::Pose3d p;
  std::cout << "A default Pose3d has the following values\n"
    << p << std::endl;
 
  // Construct a pose at position 1, 2, 3 with a yaw of PI radians.
  gz::math::Pose3d p1(1, 2, 3, 0, 0, GZ_PI);
  std::cout << "A pose3d(1, 2, 3, 0, 0, GZ_PI) has the following values\n"
    << p1 << std::endl;
 
  // Set the position of a pose to 10, 20, 30
  p.Pos().Set(10, 20, 30);
 
  // Combine two poses, and store the result in a new pose
  gz::math::Pose3d p3 = p * p1;
  std::cout << "Result of adding two poses together is\n"
   << p3 << std::endl;
}

Ruby

# $ export RUBYLIB=/usr/lib/ruby:$RUBYLIB
#
require 'gz/math'
 
# Construct a default Pose3d.
p = Gz::Math::Pose3d.new
printf("A default Pose3d has the following values\n" +
       "%f %f %f %f %f %f\n", p.Pos().X(), p.Pos().Y(), p.Pos().Z(),
       p.Rot().Euler().X(), p.Rot().Euler().Y(), p.Rot().Euler().Z())
 
# Construct a pose at position 1, 2, 3 with a yaw of PI radians.
p1 = Gz::Math::Pose3d.new(1, 2, 3, 0, 0, Math::PI)
printf("A pose3d(1, 2, 3, 0, 0, GZ_PI) has the following values\n" +
       "%f %f %f %f %f %f\n", p1.Pos().X(), p1.Pos().Y(), p1.Pos().Z(),
       p1.Rot().Euler().X(), p1.Rot().Euler().Y(), p1.Rot().Euler().Z())
 
# Set the position of a pose to 10, 20, 30
p.Pos().Set(10, 20, 30)
 
p3 = p * p1
printf("Result of combining two poses is\n"+
        "%f %f %f %f %f %f\n", p3.Pos().X(), p3.Pos().Y(), p3.Pos().Z(),
       p3.Rot().Euler().X(), p3.Rot().Euler().Y(), p3.Rot().Euler().Z())

Constructor & Destructor Documentation

◆ Pose3() [1/4]

template<typename T >

Pose3 ( )

default

Default constructor. This initializes the position component to zero and the quaternion to identity.

◆ Pose3() [2/4]

template<typename T >

Pose3	(	const Vector3< T > &	_pos,
		const Quaternion< T > &	_rot
	)

inline

Create a Pose3 based on a position and rotation.

Parameters

[in]	_pos	The position
[in]	_rot	The rotation

◆ Pose3() [3/4]

template<typename T >

Pose3	(	T	_x,
		T	_y,
		T	_z,
		T	_roll,
		T	_pitch,
		T	_yaw
	)

inline

Create a Pose3 using a 6-tuple consisting of x, y, z, roll, pitch, and yaw.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Yaw (rotation about z-axis) in radians.

◆ Pose3() [4/4]

template<typename T >

Pose3	(	T	_x,
		T	_y,
		T	_z,
		T	_qw,
		T	_qx,
		T	_qy,
		T	_qz
	)

inline

Create a Pose3 using a 7-tuple consisting of x, y, z, qw, qx, qy, qz. The first three values are the position and the last four the rotation represented as a quaternion.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_qw	Quaternion w value.
[in]	_qx	Quaternion x value.
[in]	_qy	Quaternion y value.
[in]	_qz	Quaternion z value.

Member Function Documentation

◆ CoordPoseSolve()

template<typename T >

Pose3< T > CoordPoseSolve ( const Pose3< T > & _b ) const

inline

Find the inverse of a pose; i.e., if b = this + a, given b and this, find a.

Parameters

[in] _b the other pose.

◆ CoordPositionAdd() [1/2]

template<typename T >

Vector3< T > CoordPositionAdd ( const Pose3< T > & _pose ) const

inline

Add one pose to another: result = this + pose.

Parameters

[in] _pose The Pose3<T> to add.

Returns: The resulting position.

◆ CoordPositionAdd() [2/2]

template<typename T >

Vector3< T > CoordPositionAdd ( const Vector3< T > & _pos ) const

inline

Add one point to a vector: result = this + pos.

Parameters

[in] _pos Position to add to this pose

Returns: The resulting position.

◆ CoordPositionSub()

template<typename T >

Vector3< T > CoordPositionSub ( const Pose3< T > & _pose ) const

inline

Subtract one position from another: result = this - pose.

Parameters

[in] _pose Pose3<T> to subtract

Returns: The resulting position

◆ CoordRotationAdd()

template<typename T >

Quaternion< T > CoordRotationAdd ( const Quaternion< T > & _rot ) const

inline

Add one rotation to another: result = this->q + rot.

Parameters

[in] _rot Rotation to add.

Returns: The resulting rotation.

◆ CoordRotationSub()

template<typename T >

Quaternion< T > CoordRotationSub ( const Quaternion< T > & _rot ) const

inline

Subtract one rotation from another: result = this->q - rot.

Parameters

[in] _rot The rotation to subtract.

Returns: The resulting rotation.

◆ Correct()

template<typename T >

void Correct ( )

inline

Fix any nan values.

◆ Equal()

template<typename T >

bool Equal	(	const Pose3< T > &	_p,
		const T &	_tol
	)		const

inline

Equality test with tolerance.

Parameters

[in]	_p	The pose to compare this against. Both the position Vector3 and rotation Quaternion are compared.
[in]	_tol	Equality tolerance.

Returns: True if the position and orientation of the poses are equal within the tolerence specified by _tol.

References Matrix6< T >::Equal().

◆ Inverse()

template<typename T >

Pose3< T > Inverse ( ) const

inline

Get the inverse of this pose.

Returns: The inverse pose.

◆ IsFinite()

template<typename T >

bool IsFinite ( ) const

inline

See if a pose is finite (e.g., not nan)

Returns: True if this pose is finite.

◆ operator!=()

template<typename T >

bool operator!= ( const Pose3< T > & _pose ) const

inline

Inequality operator.

Parameters

[in] _pose Pose3<T> for comparison.

Returns: True if this pose is not equal to the given pose.

◆ operator*()

template<typename T >

Pose3< T > operator* ( const Pose3< T > & _pose ) const

inline

Multiplication operator. Given X_OP (frame P relative to O) and X_PQ (frame Q relative to P) then X_OQ = X_OP * X_PQ (frame Q relative to O).

Parameters

[in] _pose The pose to multiply by.

Returns: The resulting pose.

◆ operator*=()

template<typename T >

const Pose3< T > & operator*= ( const Pose3< T > & _pose )

inline

Multiplication assignment operator. This pose will become equal to this * _pose.

Parameters

[in] _pose Pose3<T> to multiply to this pose

See also: operator*(const Pose3<T> &_pose) const

Returns: The resulting pose

◆ operator==()

template<typename T >

bool operator== ( const Pose3< T > & _pose ) const

inline

Equality operator.

Parameters

[in] _pose Pose3<T> for comparison.

Returns: True if this pose is equal to the given pose.

◆ Pitch()

template<typename T >

const T Pitch ( ) const

inline

Get the Pitch value of the rotation.

Returns: Pitch value of the orientation.

Note: The return is made by value since Quaternion<T>.Pitch() is already a reference.

◆ Pos() [1/2]

template<typename T >

Vector3< T > & Pos ( )

inline

Get a mutable reference to the position.

Returns: Origin of the pose.

◆ Pos() [2/2]

template<typename T >

const Vector3< T > & Pos ( ) const

inline

Get the position.

Returns: Origin of the pose.

◆ Reset()

template<typename T >

void Reset ( )

inline

Reset the pose. This sets the position to zero and the rotation to identify.

References Matrix6< T >::Set().

◆ Roll()

template<typename T >

const T Roll ( ) const

inline

Get the Roll value of the rotation.

Returns: Roll value of the orientation.

Note: The return is made by value since Quaternion<T>.Roll() is already a reference.

◆ Rot() [1/2]

template<typename T >

Quaternion< T > & Rot ( )

inline

Get a mutable reference to the rotation.

Returns: Quaternion representation of the rotation.

◆ Rot() [2/2]

template<typename T >

const Quaternion< T > & Rot ( ) const

inline

Get the rotation.

Returns: Quaternion representation of the rotation.

◆ RotatePositionAboutOrigin()

template<typename T >

Pose3< T > RotatePositionAboutOrigin ( const Quaternion< T > & _q ) const

inline

Rotate the vector part of a pose about the origin.

Parameters

[in] _q rotation.

Returns: The rotated pose.

◆ Round()

template<typename T >

void Round ( int _precision )

inline

Round all values to _precision decimal places.

Parameters

[in] _precision Number of decimal places.

◆ Set() [1/3]

template<typename T >

void Set	(	const Vector3< T > &	_pos,
		const Quaternion< T > &	_rot
	)

inline

Set the pose from a Vector3<T> and a Quaternion<T>

Parameters

[in]	_pos	The position.
[in]	_rot	The rotation.

◆ Set() [2/3]

template<typename T >

void Set	(	const Vector3< T > &	_pos,
		const Vector3< T > &	_rpy
	)

inline

Set the pose from a position and Euler angles.

Parameters

[in]	_pos	The position.
[in]	_rpy	The rotation expressed as Euler angles.

◆ Set() [3/3]

template<typename T >

void Set	(	T	_x,
		T	_y,
		T	_z,
		T	_roll,
		T	_pitch,
		T	_yaw
	)

inline

Set the pose from a six tuple consisting of x, y, z, roll, pitch, and yaw.

Parameters

[in]	_x	x position in meters.
[in]	_y	y position in meters.
[in]	_z	z position in meters.
[in]	_roll	Roll (rotation about X-axis) in radians.
[in]	_pitch	Pitch (rotation about y-axis) in radians.
[in]	_yaw	Pitch (rotation about z-axis) in radians.

References Matrix6< T >::Set().

◆ SetX()

template<typename T >

void SetX ( T x )

inline

Set X value of the position.

◆ SetY()

template<typename T >

void SetY ( T y )

inline

Set the Y value of the position.

◆ SetZ()

template<typename T >

void SetZ ( T z )

inline

Set the Z value of the position.

◆ X()

template<typename T >

const T X ( ) const

inline

Get the X value of the position.

Returns: Value X of the origin of the pose.

Note: The return is made by value since Vector3<T>.X() is already a reference.

◆ Y()

template<typename T >

const T Y ( ) const

inline

Get the Y value of the position.

Returns: Value Y of the origin of the pose.

Note: The return is made by value since Vector3<T>.Y() is already a reference.

◆ Yaw()

template<typename T >

const T Yaw ( ) const

inline

Get the Yaw value of the rotation.

Returns: Yaw value of the orientation.

Note: The return is made by value since Quaternion<T>.Yaw() is already a reference.

◆ Z()

template<typename T >

const T Z ( ) const

inline

Get the Z value of the position.

Returns: Value Z of the origin of the pose.

Note: The return is made by value since Vector3<T>.Z() is already a reference.

Member Data Documentation

◆ Zero

template<typename T >

const Pose3< T > & Zero = detail::gPose3Zero<T>

static

A Pose3 initialized to zero. This is equivalent to math::Pose3<T>(0, 0, 0, 0, 0, 0).

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

Pose3.hh

Public Member Functions

Static Public Attributes

Detailed Description

Examples

Constructor & Destructor Documentation

◆ Pose3() [1/4]

◆ Pose3() [2/4]

◆ Pose3() [3/4]

◆ Pose3() [4/4]

Member Function Documentation

◆ CoordPoseSolve()

◆ CoordPositionAdd() [1/2]

◆ CoordPositionAdd() [2/2]

◆ CoordPositionSub()

◆ CoordRotationAdd()

◆ CoordRotationSub()

◆ Correct()

◆ Equal()

◆ Inverse()

◆ IsFinite()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator==()

◆ Pitch()

◆ Pos() [1/2]

◆ Pos() [2/2]

◆ Reset()

◆ Roll()

◆ Rot() [1/2]

◆ Rot() [2/2]

◆ RotatePositionAboutOrigin()

◆ Round()

◆ Set() [1/3]

◆ Set() [2/3]

◆ Set() [3/3]

◆ SetX()

◆ SetY()

◆ SetZ()

◆ X()

◆ Y()

◆ Yaw()

◆ Z()

Member Data Documentation

◆ Zero