Class 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
    • 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.
      • 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