Represents a pose in 3D space, i.e. a point of the SE(3) space. More...

#include <pose.h>

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Public Member Functions
	Pose ()

	Pose (const arma::mat &mat)

	~Pose ()

arma::mat	homogeneous ()
	Returns the homogeneous transformation of the pose which is a 4x4 matrix defined in (2.14) p. 45 Robotics, Doulgeri. More...

arma::vec	quaternion ()
	Returns the orientation as quaternion w, x, y, z. More...

Public Attributes
arma::vec	position
	A 3x1 vector for the position of the pose. More...

arma::mat	rotation
	A 3x3 matrix for the orientation of the pose in the form of a rotation matrix. More...

std::string	frame_a
	The frame a (the base frame) More...

std::string	frame_b
	The frame b. The pose is actually the pose of the frame b with respect the frame a. More...

Detailed Description

Represents a pose in 3D space, i.e. a point of the SE(3) space.

TODO: add overloading of multiplication operator for transformations

Constructor & Destructor Documentation

arl::math::Pose::Pose ( )

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arl::math::Pose::Pose ( const arma::mat & mat )

explicit

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arl::math::Pose::~Pose ( )

mat arl::math::Pose::homogeneous ( )

Returns the homogeneous transformation of the pose which is a 4x4 matrix defined in (2.14) p. 45 Robotics, Doulgeri.

vec arl::math::Pose::quaternion ( )

Returns the orientation as quaternion w, x, y, z.

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std::string arl::math::Pose::frame_a

The frame a (the base frame)

std::string arl::math::Pose::frame_b

The frame b. The pose is actually the pose of the frame b with respect the frame a.

arma::vec arl::math::Pose::position

A 3x1 vector for the position of the pose.

arma::mat arl::math::Pose::rotation

A 3x3 matrix for the orientation of the pose in the form of a rotation matrix.