A rigid body pose. More...
#include <Pose3d.h>
Inheritance diagram for Ravelin::POSE3:
Public Member Functions | |
| POSE3 (const POSE3 &source) | |
| POSE3 (const AANGLE &a, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const MATRIX3 &m, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const QUAT &q, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const AANGLE &a, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const MATRIX3 &m, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const QUAT &q, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| VECTOR3 | transform_point (const VECTOR3 &p) const |
| VECTOR3 | transform_vector (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_point (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_vector (const VECTOR3 &v) const |
| SFORCE | transform (const SFORCE &w) const |
| SFORCE | inverse_transform (const SFORCE &w) const |
| SMOMENTUM | transform (const SMOMENTUM &t) const |
| SMOMENTUM | inverse_transform (const SMOMENTUM &t) const |
| SVELOCITY | transform (const SVELOCITY &t) const |
| SVELOCITY | inverse_transform (const SVELOCITY &t) const |
| SACCEL | transform (const SACCEL &t) const |
| SACCEL | inverse_transform (const SACCEL &t) const |
| SPATIAL_RB_INERTIA | transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_RB_INERTIA | inverse_transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | transform (const SPATIAL_AB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | inverse_transform (const SPATIAL_AB_INERTIA &j) const |
| VECTOR3 | qG_mult (REAL qdw, REAL qdx, REAL qdy, REAL qdz) const |
| QUAT | qG_transpose_mult (const VECTOR3 &omega) const |
| POSE3 & | set_identity () |
| POSE3 & | invert () |
| POSE3 | inverse () const |
| POSE3 & | set (const AANGLE &a) |
| POSE3 & | set (const MATRIX3 &m) |
| POSE3 & | set (const QUAT &q) |
| POSE3 & | set (const AANGLE &a, const ORIGIN3 &v) |
| POSE3 & | set (const MATRIX3 &m, const ORIGIN3 &v) |
| POSE3 & | set (const QUAT &q, const ORIGIN3 &v) |
| POSE3 | operator+ (const SVELOCITY &v) const |
| POSE3 & | operator= (const POSE3 &source) |
| POSE3 | operator* (const POSE3 &m) const |
| POSE3 & | update_relative_pose (boost::shared_ptr< const POSE3 > pose) |
| POSE3 (const POSE3 &source) | |
| POSE3 (const AANGLE &a, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const MATRIX3 &m, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const QUAT &q, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const AANGLE &a, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const MATRIX3 &m, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const QUAT &q, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| POSE3 (const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >()) | |
| VECTOR3 | transform_point (const VECTOR3 &p) const |
| VECTOR3 | transform_vector (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_point (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_vector (const VECTOR3 &v) const |
| SFORCE | transform (const SFORCE &w) const |
| SFORCE | inverse_transform (const SFORCE &w) const |
| SMOMENTUM | transform (const SMOMENTUM &t) const |
| SMOMENTUM | inverse_transform (const SMOMENTUM &t) const |
| SVELOCITY | transform (const SVELOCITY &t) const |
| SVELOCITY | inverse_transform (const SVELOCITY &t) const |
| SACCEL | transform (const SACCEL &t) const |
| SACCEL | inverse_transform (const SACCEL &t) const |
| SPATIAL_RB_INERTIA | transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_RB_INERTIA | inverse_transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | transform (const SPATIAL_AB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | inverse_transform (const SPATIAL_AB_INERTIA &j) const |
| VECTOR3 | qG_mult (REAL qdw, REAL qdx, REAL qdy, REAL qdz) const |
| QUAT | qG_transpose_mult (const VECTOR3 &omega) const |
| POSE3 & | set_identity () |
| POSE3 & | invert () |
| POSE3 | inverse () const |
| POSE3 & | set (const AANGLE &a) |
| POSE3 & | set (const MATRIX3 &m) |
| POSE3 & | set (const QUAT &q) |
| POSE3 & | set (const AANGLE &a, const ORIGIN3 &v) |
| POSE3 & | set (const MATRIX3 &m, const ORIGIN3 &v) |
| POSE3 & | set (const QUAT &q, const ORIGIN3 &v) |
| POSE3 | operator+ (const SVELOCITY &v) const |
| POSE3 & | operator= (const POSE3 &source) |
| POSE3 | operator* (const POSE3 &m) const |
| POSE3 & | update_relative_pose (boost::shared_ptr< const POSE3 > pose) |
Static Public Member Functions | |
| static POSE3 | identity () |
| static VECTOR3 | interpolate_vector (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o) |
| static VECTOR3 | interpolate_point (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o) |
| static bool | rel_equal (const POSE3 &p1, const POSE3 &p2, REAL tol=EPS) |
| static VECTOR3 | transform_point (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v) |
| static VECTOR3 | transform_vector (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v) |
| static SFORCE | transform (boost::shared_ptr< const POSE3 > target, const SFORCE &w) |
| static std::vector< SFORCE > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SFORCE > &w, std::vector< SFORCE > &result) |
| static SMOMENTUM | transform (boost::shared_ptr< const POSE3 > target, const SMOMENTUM &t) |
| static SVELOCITY | transform (boost::shared_ptr< const POSE3 > target, const SVELOCITY &t) |
| static std::vector< SVELOCITY > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SVELOCITY > &t, std::vector< SVELOCITY > &result) |
| static std::vector< SMOMENTUM > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SMOMENTUM > &t, std::vector< SMOMENTUM > &result) |
| static SACCEL | transform (boost::shared_ptr< const POSE3 > target, const SACCEL &t) |
| static std::vector< SACCEL > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &t, std::vector< SACCEL > &result) |
| static SPATIAL_RB_INERTIA | transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_RB_INERTIA &j) |
| static SPATIAL_AB_INERTIA | transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_AB_INERTIA &j) |
| static TRANSFORM3 | calc_relative_pose (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target) |
| static POSE3 | invert (const POSE3 &m) |
| static VECTOR3 | interpolate_transform_vector (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o) |
| static VECTOR3 | interpolate_transform_point (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o) |
| static SVELOCITY | diff (const POSE3 &P1, const POSE3 &P2) |
| template<class M > | |
| static M & | spatial_transform_to_matrix (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes a 6x6 matrix that transforms velocity vectors in [w; v] format or force vectors in [f; tau] format. | |
| template<class M > | |
| static M & | spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes a 6x6 matrix that transforms velocity vectors in [v w] format. | |
| template<class M > | |
| static M & | dot_spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes the time derivative of a 6x6 matrix that transforms velocity vectors in [v w] format. | |
| static POSE3 | identity () |
| static VECTOR3 | interpolate_vector (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o) |
| static VECTOR3 | interpolate_point (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o) |
| static bool | rel_equal (const POSE3 &p1, const POSE3 &p2, REAL tol=EPS) |
| static VECTOR3 | transform_point (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v) |
| static VECTOR3 | transform_vector (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v) |
| static SFORCE | transform (boost::shared_ptr< const POSE3 > target, const SFORCE &w) |
| static std::vector< SFORCE > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SFORCE > &w, std::vector< SFORCE > &result) |
| static SMOMENTUM | transform (boost::shared_ptr< const POSE3 > target, const SMOMENTUM &t) |
| static SVELOCITY | transform (boost::shared_ptr< const POSE3 > target, const SVELOCITY &t) |
| static std::vector< SVELOCITY > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SVELOCITY > &t, std::vector< SVELOCITY > &result) |
| static std::vector< SMOMENTUM > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SMOMENTUM > &t, std::vector< SMOMENTUM > &result) |
| static SACCEL | transform (boost::shared_ptr< const POSE3 > target, const SACCEL &t) |
| static std::vector< SACCEL > & | transform (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &t, std::vector< SACCEL > &result) |
| static SPATIAL_RB_INERTIA | transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_RB_INERTIA &j) |
| static SPATIAL_AB_INERTIA | transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_AB_INERTIA &j) |
| static TRANSFORM3 | calc_relative_pose (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target) |
| static POSE3 | invert (const POSE3 &m) |
| static VECTOR3 | interpolate_transform_vector (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o) |
| static VECTOR3 | interpolate_transform_point (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o) |
| static SVELOCITY | diff (const POSE3 &P1, const POSE3 &P2) |
| template<class M > | |
| static M & | spatial_transform_to_matrix (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes a 6x6 matrix that transforms velocity vectors in [w; v] format or force vectors in [f; tau] format. | |
| template<class M > | |
| static M & | spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes a 6x6 matrix that transforms velocity vectors in [v w] format. | |
| template<class M > | |
| static M & | dot_spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m) |
| Computes the time derivative of a 6x6 matrix that transforms velocity vectors in [v w] format. | |
Public Attributes | |
| QUAT | q |
| the orientation of the pose frame | |
| ORIGIN3 | x |
| the origin of the pose frame | |
| boost::shared_ptr< const POSE3 > | rpose |
| the pose that this pose is relative to (if any) | |
Friends | |
| class | MOVINGTRANSFORM3 |
Detailed Description
A rigid body pose.
The documentation for this class was generated from the following files:
