public class Pose6D extends java.lang.Object implements IPose3D
Modifier and Type | Field and Description |
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org.apache.commons.math3.geometry.euclidean.threed.RotationOrder |
rotationOrder
the rotation order
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double |
x
the x-value of the position
|
double |
xAngle
the x-angle in degrees
|
double |
y
the y-value of the position
|
double |
yAngle
the y-angle in degrees
|
double |
z
the z-value of the position
|
double |
zAngle
the z-angle in degrees
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Constructor and Description |
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Pose6D()
Instantiate a new Pose6D object and initialize position and orientation to
zero.
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Pose6D(double x,
double y,
double z)
Instantiate a new Pose6D object and initialize position with the given x-,
y-, and z-values.
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Pose6D(double x,
double y,
double z,
double xAngle,
double yAngle,
double zAngle)
Instantiate a new Pose6D object and initialize position and orientation.
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Pose6D(double x,
double y,
double z,
double xAngle,
double yAngle,
double zAngle,
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotationOrder)
Instantiate a new Pose6D object and initialize position and orientation.
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Pose6D(Pose6D other)
Instantiate a new Pose6D object and initialize position and orientation
values to match the other pose.
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Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
Instantiate a new Pose6D object and initialize position with the given
position.
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Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position,
org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation,
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotOrder)
Instantiate a new Pose6D object and initialize position and orientation.
|
Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles)
Instantiate a new Pose6D object and initialize position and orientation.
|
Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles,
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotationOrder)
Instantiate a new Pose6D object and initialize position and orientation.
|
Modifier and Type | Method and Description |
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Pose6D |
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 position)
Apply this pose inversely as a rigid transformation to the given position
vector.
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Pose6D |
applyTo(IPose3D other)
Apply this pose as a rigid transformation to another pose.
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
applyTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
Apply this pose as a rigid transformation to the given position vector.
|
boolean |
equals(java.lang.Object obj) |
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getAngles() |
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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void |
reset() |
Pose6D |
set(Pose6D other)
Copy all values from the other pose into this pose.
|
void |
setAngles(double xAngle,
double yAngle,
double zAngle)
Set the angles.
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void |
setAngles(org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles)
Set the angles.
|
void |
setPosition(double x,
double y,
double z)
Set the position.
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void |
setPosition(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
Set the position.
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java.lang.String |
toString() |
public double x
public double y
public double z
public double xAngle
public double yAngle
public double zAngle
public transient org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotationOrder
public Pose6D(double x, double y, double z, double xAngle, double yAngle, double zAngle, org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotationOrder)
x:
- the x-position valuey:
- the y-position valuez:
- the z-position valuexAngle:
- the x-angleyAngle:
- the y-anglezAngle:
- the z-anglerotationOrder:
- the rotation orderpublic Pose6D()
public Pose6D(Pose6D other)
other:
- the other posepublic Pose6D(double x, double y, double z)
x:
- the x-position valuey:
- the y-position valuez:
- the z-position valuepublic Pose6D(double x, double y, double z, double xAngle, double yAngle, double zAngle)
RotationOrder.XYZ
.x:
- the x-position valuey:
- the y-position valuez:
- the z-position valuexAngle:
- the x-angleyAngle:
- the y-anglezAngle:
- the z-anglepublic Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
position:
- the position vectorpublic Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position, org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles)
RotationOrder.XYZ
.position:
- the position vectorangles:
- the angles vectorpublic Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position, org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles, org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotationOrder)
RotationOrder.XYZ
.position
- the position vectorangles
- the angles vectorrotationOrder
- the rotation orderpublic Pose6D(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position, org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation, org.apache.commons.math3.geometry.euclidean.threed.RotationOrder rotOrder)
position
- the position vectororientation
- the orientationrotOrder
- the rotation order used to determine the anglespublic 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.Vector3D getAngles()
public org.apache.commons.math3.geometry.euclidean.threed.Rotation getOrientation()
IPose3D
getOrientation
in interface IPose3D
public Pose6D set(Pose6D other)
other:
- the pose to copypublic void setPosition(double x, double y, double z)
x:
- the x-position valuey:
- the y-position valuez:
- the z-position valuepublic void setPosition(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
position:
- the position vectorpublic void setAngles(double xAngle, double yAngle, double zAngle)
xAngle:
- the x-angleyAngle:
- the y-anglezAngle:
- the z-anglepublic void setAngles(org.apache.commons.math3.geometry.euclidean.threed.Vector3D angles)
angles:
- the angles vectorpublic void reset()
public Pose6D applyTo(IPose3D other)
IPose3D
public Pose6D 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 position)
IPose3D
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
IPose3D
applyInverseTo
in interface IPose3D
position
- 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