Package org.robwork.sdurw
Class Pose6Df
- java.lang.Object
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- org.robwork.sdurw.Pose6Df
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public class Pose6Df 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.
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Constructor Summary
Constructors Constructor Description Pose6Df()
Creates an "identity" Pose6D.Pose6Df(float x, float y, float z, float kx, float ky, float kz)
Creates a Pose6D from 6 parameters.Pose6Df(long cPtr, boolean cMemoryOwn)
Pose6Df(Pose6Df p6d)
Pose6Df(Transform3Df t3d)
Creates a Pose6D from a Transform3D
Pose6Df(Vector3Df position, EAAf rotation)
Creates a Pose6D from a Vector3D and a EAA
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
float
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(Pose6Df obj)
EAAf
getEAA()
Get the orientation.Vector3Df
getPos()
Get the position.java.lang.String
toString()
Transform3Df
toTransform3D()
Converts the Pose6D into the corresponding Transform3D
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Constructor Detail
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Pose6Df
public Pose6Df(long cPtr, boolean cMemoryOwn)
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Pose6Df
public Pose6Df()
Creates an "identity" Pose6D. Position is zero vector and orientation
is zero vector
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Pose6Df
public Pose6Df(Pose6Df p6d)
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Pose6Df
public Pose6Df(float x, float y, float z, float kx, float ky, float 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 axisy
- [in] The position in the y axisz
- [in] The position in the z axiskx
- [in] \theta k_xky
- [in] \theta k_ykz
- [in] \theta k_z
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Pose6Df
public Pose6Df(Vector3Df position, EAAf rotation)
Creates a Pose6D from a Vector3D and a EAA
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Pose6Df
public Pose6Df(Transform3Df t3d)
Creates a Pose6D from a Transform3D
- Parameters:
t3d
- [in] A Transform3D
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Method Detail
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getCPtr
public static long getCPtr(Pose6Df obj)
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delete
public void delete()
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get
public float 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 'th index of the pose.
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getPos
public Vector3Df getPos()
Get the position.- Returns:
- reference to position vector.
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getEAA
public EAAf getEAA()
Get the orientation.- Returns:
- reference to orientation rotation vector.
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toTransform3D
public Transform3Df toTransform3D()
Converts the Pose6D into the corresponding Transform3D- Returns:
- the corresponding Transform3D
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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