## Class Pose6Df

• java.lang.Object
• org.robwork.sdurw_math.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​(Transform3Df t3d)
Creates a Pose6D from a Transform3D

Pose6Df​(Vector3Df v3d, EAAf eaa)
Creates a Pose6D from a Vector3D and a EAA
• ### Method Summary

All 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()
const
Vector3Df getPos()
const
void set​(long i, float d)
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​(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 v3d,
EAAf 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.
• #### 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 in the index of the pose.
• #### getPos

public Vector3Df getPos()
const
• #### getEAA

public EAAf getEAA()
const
• #### set

public void set​(long i,
float d)
• #### toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object
• #### toTransform3D

public Transform3Df toTransform3D()
Converts the Pose6D into the corresponding Transform3D
Returns:
the corresponding Transform3D