The RMP Motion Controller APIs

Pose. More...

Attributes

Quaternion Orientation
 The orientation component of the Pose.
 
Vector3d Position
 The position component of the Pose.
 

Functions

 Pose ()
 Default constructor. Vector(0,0,0) Quaterion(1,0,0,0)
 
 Pose (const Pose &pose)
 Constructor from an existing Pose. More...
 
 Pose (const Quaternion &quaternion)
 Constructor. More...
 
 Pose (const Vector3d &position)
 Constructor from an existing position Vector3d. More...
 
 Pose (const Vector3d position, const Quaternion &quaternion)
 Constructor. More...
 
bool Equals (const Pose &rhs, double tolerance) const
 Approximate equality check. Checks whether all components are within the tolerance of each other. More...
 
Pose Inverse () const
 Inverts this. this * this.inverse() = I. More...
 
Pose operator* (const Pose &rhs) const
 Transforms rhs by this. Rotates rhs.position by this, adds this.position to it, and rotates rhs.orientation by this.orientation. More...
 
Vector3d operator* (const Vector3d &rhs) const
 Transforms rhs by this. Rotates rhs by this, and adds this.position to it. More...
 
Pose Rotate (const Pose &rhs) const
 Rotates rhs by the rotation component of this (ONLY the rotation component) More...
 

Description

Definition at line 404 of file cartesianrobot.h.