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Public Member Functions | List of all members
sdf::SDF_VERSION_NAMESPACE::SemanticPose Class Reference

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.
 
const std::string & RelativeTo () const
 Get the name of the coordinate frame relative to which this object's pose is expressed.
 
Errors Resolve (gz::math::Pose3d &_pose, const std::string &_resolveTo="") const
 Resolve pose of this object with respect to another named frame.
 

Detailed Description

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.

Member Function Documentation

◆ RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::SemanticPose::RawPose ( ) const

Get the raw Pose3 transform.

Returns
The raw Pose3 transform.

◆ RelativeTo()

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.

Returns
The name of the pose relative-to frame.

◆ Resolve()

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.

Parameters
[out]_poseThe resolved pose.
[in]_resolveToThe pose will be resolved with respect to this frame. If unset or empty, the default resolve-to frame will be used.
Returns
Errors in resolving pose.

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