public class Pose3D extends java.lang.Object implements IPose3D
Modifier and Type | Field and Description |
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org.apache.commons.math3.geometry.euclidean.threed.Rotation |
orientation
The 3D orientation.
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org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
position
The 3D position.
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Constructor and Description |
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Pose3D()
Instantiate a new Pose3D object.
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Pose3D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position,
org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
Instantiate a new Pose3D object and initialize position and orientation.
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Modifier and Type | Method and Description |
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Pose3D |
applyInverseTo(IPose3D other)
Apply this pose inversely as a rigid transformation to another pose.
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org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D pos)
Apply this pose inversely as a rigid transformation to the given position
vector.
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Pose3D |
applyTo(IPose3D other)
Apply this pose as a rigid transformation to another pose.
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org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
applyTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D pos)
Apply this pose as a rigid transformation to the given position vector.
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boolean |
equals(java.lang.Object obj) |
org.apache.commons.math3.geometry.euclidean.threed.Rotation |
getOrientation()
Retrieve the orientation.
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org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getPosition()
Retrieve the position.
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double |
getX()
Retrieve the x-position value.
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double |
getY()
Retrieve the y-position value.
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double |
getZ()
Retrieve the z-position value.
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java.lang.String |
toString() |
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D position
public org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation
public Pose3D()
Vector3D.ZERO
vector and the Rotation.IDENTITY
rotation.public Pose3D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position, org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
position:
- the positionorientation:
- the orientationpublic double getX()
IPose3D
public double getY()
IPose3D
public double getZ()
IPose3D
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D getPosition()
IPose3D
getPosition
in interface IPose3D
public org.apache.commons.math3.geometry.euclidean.threed.Rotation getOrientation()
IPose3D
getOrientation
in interface IPose3D
public Pose3D applyTo(IPose3D other)
IPose3D
public Pose3D applyInverseTo(IPose3D other)
IPose3D
applyInverseTo
in interface IPose3D
other
- the pose to transformpublic org.apache.commons.math3.geometry.euclidean.threed.Vector3D applyTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D pos)
IPose3D
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D pos)
IPose3D
applyInverseTo
in interface IPose3D
pos
- the position vector to transformpublic boolean equals(java.lang.Object obj)
equals
in class java.lang.Object
public java.lang.String toString()
toString
in class java.lang.Object