Package org.robwork.sdurw

Class Pose6Df

java.lang.Object

org.robwork.sdurw.Pose6Df

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.

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

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Detail

Pose6Df

public Pose6Df(long cPtr,
               boolean cMemoryOwn)

Pose6Df

public Pose6Df()

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

Pose6Df

public Pose6Df(Pose6Df p6d)

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 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

Pose6Df

public Pose6Df(Vector3Df position,
               EAAf rotation)

Creates a Pose6D from a Vector3D and a EAA

Pose6Df

public Pose6Df(Transform3Df t3d)

Creates a Pose6D from a Transform3D

Parameters:

t3d - [in] A Transform3D

Method Detail

getCPtr

public static long getCPtr(Pose6Df obj)

delete

public void delete()

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.

getPos

public Vector3Df getPos()

Get the position.

Returns:

reference to position vector.

getEAA

public EAAf getEAA()

Get the orientation.

Returns:

reference to orientation rotation vector.

toTransform3D

public Transform3Df toTransform3D()

Converts the Pose6D into the corresponding Transform3D

Returns:

the corresponding Transform3D

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object