SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a PoseRelativeToGraph. More...
#include <SemanticPose.hh>
Public Member Functions | |
| const gz::math::Pose3d & | RawPose () const |
| Get the raw Pose3 transform. More... | |
| const std::string & | RelativeTo () const |
| Get the name of the coordinate frame relative to which this object's pose is expressed. More... | |
| Errors | Resolve (gz::math::Pose3d &_pose, const std::string &_resolveTo="") const |
| Resolve pose of this object with respect to another named frame. More... | |
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a PoseRelativeToGraph.
This object holds a Pose3 object, the name of the frame relative to which it is defined, a pointer to a PoseRelativeToGraph, and a default frame to resolve to. The name of the default frame to resolve to must not be empty. This class only has a private constructor, and may only be accessed from its friend DOM classes.
| const gz::math::Pose3d& sdf::SDF_VERSION_NAMESPACE::SemanticPose::RawPose | ( | ) | const |
Get the raw Pose3 transform.
| const std::string& sdf::SDF_VERSION_NAMESPACE::SemanticPose::RelativeTo | ( | ) | const |
Get the name of the coordinate frame relative to which this object's pose is expressed.
An empty value indicates that the frame is relative to the default parent object.
| Errors sdf::SDF_VERSION_NAMESPACE::SemanticPose::Resolve | ( | gz::math::Pose3d & | _pose, |
| const std::string & | _resolveTo = "" |
||
| ) | const |
Resolve pose of this object with respect to another named frame.
If there are any errors resolving the pose, the output will not be modified.
| [out] | _pose | The resolved pose. |
| [in] | _resolveTo | The pose will be resolved with respect to this frame. If unset or empty, the default resolve-to frame will be used. |