Package org.robwork.sdurw_math

Class Pose6D

  • public class Pose6D
extends java.lang.Object
    A Pose6D \mathbf{x}\in \mathbb{R}^6 describes a position
    and orientation in 3-dimensions.

    {\mathbf{x}} = \left[ \begin{array}{c} x \\ y \\ z \\ \theta k_x \\ \theta k_y \\ \theta k_z \end{array} \right]

    where (x,y,z) is the 3d position and (\theta k_x, \theta k_y, \theta k_z) describes the orientation in equal angle axis (EAA)
    format.

    • Constructor Summary

      Constructors 
      Constructor Description
      Pose6D()
      Creates an "identity" Pose6D.
      Pose6D​(double x, double y, double z, double kx, double ky, double kz)
      Creates a Pose6D from 6 parameters.
      Pose6D​(long cPtr, boolean cMemoryOwn)  
      Pose6D​(Transform3D t3d)
      Creates a Pose6D from a Transform3D
      Pose6D​(Vector3D v3d, EAA eaa)
      Creates a Pose6D from a Vector3D and a EAA

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      double get​(long i)
      Returns the i'th element in the pose.

      i\in\{0,1,2\} corresponds to \{x,y,z\} respectively.
      i\in\{3,4,5\} corresponds to the equivalent angle axis.
      static long getCPtr​(Pose6D obj)  
      EAA getEAA()
      const
      Vector3D getPos()
      const
      void set​(long i, double d)  
      java.lang.String toString()  
      Transform3D toTransform3D()
      Converts the Pose6D into the corresponding Transform3D

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

    • Constructor Detail

      • Pose6D

        public Pose6D​(long cPtr,
              boolean cMemoryOwn)

      • Pose6D

        public Pose6D()
        Creates an "identity" Pose6D. Position is zero vector and orientation
        is zero vector

      • Pose6D

        public Pose6D​(double x,
              double y,
              double z,
              double kx,
              double ky,
              double kz)
        Creates a Pose6D from 6 parameters. 3 defining the
        position and 3 defining the EAA orientation.
        Parameters:
        x - [in] The position in the x axis
        y - [in] The position in the y axis
        z - [in] The position in the z axis
        kx - [in] \theta k_x
        ky - [in] \theta k_y
        kz - [in] \theta k_z

      • Pose6D

        public Pose6D​(Vector3D v3d,
              EAA eaa)
        Creates a Pose6D from a Vector3D and a EAA
        Parameters:
        v3d - [in] Vector3D describing the 3D position of the Pose6D
        eaa - [in] EAA describing the rotational component of the Pose6D.

      • Pose6D

        public Pose6D​(Transform3D t3d)
        Creates a Pose6D from a Transform3D

        Parameters:
        t3d - [in] A Transform3D

    • Method Detail

      • getCPtr

        public static long getCPtr​(Pose6D obj)

      • delete

        public void delete()

      • get

        public double get​(long i)
        Returns the i'th element in the pose.

        i\in\{0,1,2\} corresponds to \{x,y,z\} respectively.
        i\in\{3,4,5\} corresponds to the equivalent angle axis.

        Parameters:
        i - [in] index to return
        Returns:
        the i in the index of the pose.

      • getPos

        public Vector3D getPos()
        const

      • getEAA

        public EAA getEAA()
        const

      • set

        public void set​(long i,
                double d)

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • toTransform3D

        public Transform3D toTransform3D()
        Converts the Pose6D into the corresponding Transform3D
        Returns:
        the corresponding Transform3D