Class Pose6D

• java.lang.Object
• org.robwork.sdurw_math.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
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