Pose3D Class Reference

representation for 3D Transformation (Location + Orientation) More...

#include <Pose3D.h>

Inheritance diagram for Pose3D:

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[legend]List of all members.


Public Member Functions
	Pose3D ()
	constructor
	Pose3D (const RotationMatrix &rot, const Vector3< double > &trans)
	constructor from rotation and translation
	Pose3D (const RotationMatrix &rot)
	constructor from rotation
	Pose3D (const Vector3< double > &trans)
	constructor from translation
	Pose3D (const double x, const double y, const double z)
	constructor from three translation values
Pose3D &	operator= (const Pose3D &other)
	Assignment operator.
	Pose3D (const Pose3D &other)
	Copy constructor.
Vector3< double >	operator * (const Vector3< double > &point) const
	Multiplication with Point.
bool	operator== (const Pose3D &other) const
	Comparison of another vector with this one.
bool	operator!= (const Pose3D &other) const
	Comparison of another vector with this one.
Pose3D &	conc (const Pose3D &other)
	Concatenation of this pose with another pose.
Pose3D	invert () const
	Calculates the inverse transformation from the current pose.
Pose3D &	translate (const Vector3< double > &trans)
	Translate this pose by a translation vector.
Pose3D &	translate (const double x, const double y, const double z)
	Translate this pose by a translation vector.
Pose3D &	rotate (const RotationMatrix &rot)
	Rotate this pose by a rotation.
Pose3D &	rotateX (const double angle)
	Rotate this pose around its x-axis.
Pose3D &	rotateY (const double angle)
	Rotate this pose around its y-axis.
Pose3D &	rotateZ (const double angle)
	Rotate this pose around its z-axis.
Public Attributes
RotationMatrix	rotation
	rotation as a RotationMatrix
Vector3< double >	translation
	translation as a Vector3

Detailed Description

representation for 3D Transformation (Location + Orientation)

Definition at line 15 of file Pose3D.h.

Constructor & Destructor Documentation

Pose3D::Pose3D ( ) [inline]

constructor

Definition at line 25 of file Pose3D.h.

Pose3D::Pose3D ( const RotationMatrix & rot,

const Vector3< double > & trans

) [inline]

constructor from rotation and translation

Parameters:

rot Rotation

trans Translation

Definition at line 31 of file Pose3D.h.

Pose3D::Pose3D ( const RotationMatrix & rot ) [inline]

constructor from rotation

Parameters:

rot Rotation

Definition at line 36 of file Pose3D.h.

Pose3D::Pose3D ( const Vector3< double > & trans ) [inline]

constructor from translation

Parameters:

trans Translation

Definition at line 41 of file Pose3D.h.

Pose3D::Pose3D ( const double x,

const double y,

const double z

) [inline]

constructor from three translation values

Parameters:

x translation x component

y translation y component

z translation z component

Definition at line 48 of file Pose3D.h.

Pose3D::Pose3D ( const Pose3D & other ) [inline]

Copy constructor.

Parameters:

other The other vector that is copied to this one

Definition at line 65 of file Pose3D.h.

Member Function Documentation

Pose3D& Pose3D::operator= ( const Pose3D & other ) [inline]

Assignment operator.

Parameters:

other The other Pose3D that is assigned to this one

Returns:
A reference to this object after the assignment.

Definition at line 54 of file Pose3D.h.
References rotation, and translation.

Vector3<double> Pose3D::operator * ( const Vector3< double > & point ) const [inline]

Multiplication with Point.

Parameters:

point (Vector3<double>)

Definition at line 70 of file Pose3D.h.
References point.

bool Pose3D::operator== ( const Pose3D & other ) const [inline]

Comparison of another vector with this one.

Parameters:

other The other vector that will be compared to this one

Returns:
Whether the two vectors are equal.

Definition at line 79 of file Pose3D.h.
References rotation, and translation.

bool Pose3D::operator!= ( const Pose3D & other ) const [inline]

Comparison of another vector with this one.

Parameters:

other The other vector that will be compared to this one

Returns:
Whether the two vectors are unequal.

Definition at line 88 of file Pose3D.h.

Pose3D& Pose3D::conc ( const Pose3D & other ) [inline]

Concatenation of this pose with another pose.

Parameters:

other The other pose that will be concatenated to this one.

Returns:
A reference to this pose after concatenation

Definition at line 95 of file Pose3D.h.
References rotation, and translation.

Pose3D Pose3D::invert ( ) const [inline]

Calculates the inverse transformation from the current pose.

Returns:
The inverse transformation pose.

Definition at line 105 of file Pose3D.h.
References rotation, translation, and Matrix3x3< double >::transpose().

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Pose3D& Pose3D::translate ( const Vector3< double > & trans ) [inline]

Translate this pose by a translation vector.

Parameters:

trans Vector to translate with

Returns:
A reference to this pose after translation

Definition at line 117 of file Pose3D.h.
Referenced by Kinematics::calcLegPosition().

Pose3D& Pose3D::translate ( const double x,

const double y,

const double z

) [inline]

Translate this pose by a translation vector.

Parameters:

x x component of vector to translate with

y y component of vector to translate with

z z component of vector to translate with

Returns:
A reference to this pose after translation

Definition at line 129 of file Pose3D.h.

Pose3D& Pose3D::rotate ( const RotationMatrix & rot ) [inline]

Rotate this pose by a rotation.

Parameters:

rot Rotationmatrix to rotate with

Returns:
A reference to this pose after rotation

Definition at line 139 of file Pose3D.h.

Pose3D& Pose3D::rotateX ( const double angle ) [inline]

Rotate this pose around its x-axis.

Parameters:

angle angle to rotate with

Returns:
A reference to this pose after rotation

Definition at line 149 of file Pose3D.h.
References RotationMatrix::rotateX().

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Pose3D& Pose3D::rotateY ( const double angle ) [inline]

Rotate this pose around its y-axis.

Parameters:

angle angle to rotate with

Returns:
A reference to this pose after rotation

Definition at line 159 of file Pose3D.h.
References RotationMatrix::rotateY().
Referenced by Kinematics::calcLegPosition(), and Kinematics::calcNeckAndLegPositions().

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Pose3D& Pose3D::rotateZ ( const double angle ) [inline]

Rotate this pose around its z-axis.

Parameters:

angle angle to rotate with

Returns:
A reference to this pose after rotation

Definition at line 169 of file Pose3D.h.
References RotationMatrix::rotateZ().

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Member Data Documentation

RotationMatrix Pose3D::rotation

rotation as a RotationMatrix

Definition at line 19 of file Pose3D.h.
Referenced by RasterImageProcessor::addFlag(), GT2004SensorDataProcessor::buildPSDPercept(), conc(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), MotionRecognition::getCameraTranslation(), MotionRecognition::getCameraZ(), GT2004BallLocator::handleSeenBall(), invert(), operator<<(), operator=(), operator==(), operator>>(), and Geometry::rayFromCamera().

Vector3<double> Pose3D::translation

translation as a Vector3

Definition at line 22 of file Pose3D.h.
Referenced by RBallSpecialist2::addBallPercept(), GT2004SensorDataProcessor::buildPSDPercept(), Kinematics::calcLegPosition(), Geometry::calculateBallInImage(), conc(), BoxSpecialist::detectFreePartOfGoal(), GT2004ImageProcessor::execute(), BoxSpecialist::executePostProcessing(), MotionRecognition::getCameraZ(), MotionRecognition::getRobotTranslationForRotation(), RasterImageProcessor::init(), invert(), operator<<(), operator=(), operator==(), operator>>(), and GT2004ImageProcessor::scan().

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

Tools/Math/Pose3D.h

Generated on Thu Sep 23 20:10:45 2004 for GT2004 by

1.3.6

Pose3D Class Reference

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation