Class Pose

Class Documentation

class Pose

A rigid-body pose represented by translation and rotation.

Public Functions

Pose()

Constructs an identity pose with zero translation.

explicit Pose(const Matrix4dR &matrix)

Constructs a pose from a 4x4 homogeneous transformation matrix.

Parameters:

matrix[in] Matrix4dR with rotation in the upper-left 3x3 block and translation in the upper-right 3x1 block.

Pose(Eigen::Vector3d position, Eigen::Quaterniond rotation)

Constructs a pose from translation and rotation.

Parameters:

  • position[in] Translation vector (x, y, z).

  • rotation[in] Orientation as a unit quaternion.

const Eigen::Vector3d &position() const

Returns the translation component.

Returns:

position vector

void set_position(const Eigen::Vector3d &position)

Sets the translation component.

Parameters:

position[in] Translation vector (x, y, z).

const Eigen::Quaterniond &rotation() const

Returns the orientation as a unit quaternion.

Returns:

rotation quaternion

void set_rotation(const Eigen::Quaterniond &rotation)

Sets the orientation from a unit quaternion.

Parameters:

rotation[in] Orientation quaternion (normalized on assignment).

Matrix4dR to_matrix() const

Converts this pose to a 4x4 homogeneous transformation matrix.

Returns:

Matrix4dR with rotation in the upper-left 3x3 block and translation in the upper-right 3x1 block.

Eigen::Vector3d euler_angles() const

Returns fixed-axis Euler angles (roll, pitch, yaw) in radians.

Returns:

Eigen::Vector3d with roll (x), pitch (y), and yaw (z).

void set_rotation(const Matrix3dR &rotation_matrix)

Sets rotation from a 3x3 rotation matrix.

Parameters:

rotation_matrix[in] 3x3 rotation matrix.

void set_rotation(const Eigen::Vector3d &euler_angles)

Sets rotation from fixed-axis Euler angles (roll, pitch, yaw).

Parameters:

euler_angles[in] Vector with roll (x), pitch (y), and yaw (z) in radians.

Pose inverse() const

Returns the inverse of this pose.

Returns:

Pose whose homogeneous matrix is the inverse of this pose’s matrix.

Pose operator*(const Pose &other) const

Composes two poses.

Returns the pose whose homogeneous matrix is the product of this pose’s matrix and other ‘s matrix (apply other first, then this pose).

Parameters:

other[in] The pose to compose with.

Returns:

The composed pose.

bool operator==(const Pose &other) const

Compares two poses for equality.

Poses are equal when their homogeneous transformation matrices match within machine precision (quaternion sign is ignored).

Eigen::Vector3d operator*(const Eigen::Vector3d &point) const

Transforms a 3D point by this pose.

Parameters:

point[in] Point in the pose’s source frame.

Returns:

Transformed point in the target frame.