ow_core::CartesianPosition< _Scalar > Class Template Reference

The CartesianPosition class. More...

#include <cartesian_position.h>

Inheritance diagram for ow_core::CartesianPosition< _Scalar >:

Public Types
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 7, 1 >	Base
typedef Eigen::Transform< Scalar, 3, Eigen::Affine >	Transform

Public Member Functions
	CartesianPosition ()
	Default Constructor.
template<typename OtherDerived >
	CartesianPosition (const Eigen::EigenBase< OtherDerived > &other)
	Copy constructor. More...
	CartesianPosition (const Transform &other)
	Copy constructor from Eigen::Transform. More...
	CartesianPosition (const Scalar &x, const Scalar &y, const Scalar &z, const Scalar &qw, const Scalar &qx, const Scalar &qy, const Scalar &qz)
	Constructor from Scalars.
	CartesianPosition (const typename Transform::TranslationType &other)
	Copy constructor from Eigen::Translation. More...
template<typename OtherDerived >
	CartesianPosition (const Eigen::RotationBase< OtherDerived, 3 > &other)
	Copy constructor from Eigen::RotationBase. More...
	CartesianPosition (const tf::Transform &other)
	Copy constructor from tf::Transform.
	CartesianPosition (const geometry_msgs::Pose &other)
	Copy constructor from geometry_msgs::Pose.
void	setIdentity ()
	set to identity.
void	operator= (const Transform &T)
	Assignment form Eigen::Transformation.
void	operator= (const tf::Transform &T)
	Assignment form tf::Transform.
void	operator= (const geometry_msgs::Pose &T)
	Assignment form geometry_msgs::Pose.
template<typename OtherDerived >
void	operator= (const Eigen::RotationBase< OtherDerived, 3 > &R)
	Assignment form Eigen::RotationBase.
void	operator= (const typename Transform::TranslationType &t)
	Assignment form Eigen::Translation.
	operator Transform () const
	Conversion to Eigen::Transformation.
	operator tf::Transform () const
	Conversion to tf::Transform.
	operator geometry_msgs::Pose () const
	Conversion to geometry_msgs::Pose.
Transform	toTransformEigen ()
	Conversion to Eigen::Transformation.
tf::Transform	toTransformTf ()
	Conversion to tf::Transform.
geometry_msgs::Pose	toPoseMsg ()
	Conversion to geometry_msgs::Pose.
LinearPositionRef< Base >	position ()
	access to position part
LinearPositionRef< const Base >	position () const
	const access to position part
AngularPositionRef< Base >	orientation ()
	access to orientation part
AngularPositionRef< const Base >	orientation () const
	const access to orientation part
std::string	toString () const
	Conversion to std::string.

Static Public Member Functions
static const CartesianPosition &	Identity ()
	Construct as Identity. More...
static const CartesianPosition &	Default ()
	Construct as Default. More...

Detailed Description

template<typename _Scalar>
class ow_core::CartesianPosition< _Scalar >

The CartesianPosition class.

The CartesianPosition is of type Eigen::Vector7 and is represented by the math symbol .

Stores the position and orientation information in a 7 dimensional vector. The position part is represented by the first three elements. The orientation as a quaternion by the last four elements.

Constructor & Destructor Documentation

template<typename _Scalar >

template<typename OtherDerived >

ow_core::CartesianPosition< _Scalar >::CartesianPosition ( const Eigen::EigenBase< OtherDerived > &  other )

inline

Copy constructor.

This copy constructor not only works with Eigen matrices but also with their expressions.

template<typename _Scalar >

ow_core::CartesianPosition< _Scalar >::CartesianPosition ( const Transform &  other )

inline

Copy constructor from Eigen::Transform.

Todo:

: removed explicit to write things like: CartesianPosition X = Eigen::Affine3d::Identity();

template<typename _Scalar >

ow_core::CartesianPosition< _Scalar >::CartesianPosition ( const typename Transform::TranslationType &  other )

inlineexplicit

Copy constructor from Eigen::Translation.

This Constructor sets the rotational part to identity.

template<typename _Scalar >

template<typename OtherDerived >

ow_core::CartesianPosition< _Scalar >::CartesianPosition ( const Eigen::RotationBase< OtherDerived, 3 > &  other )

inlineexplicit

Copy constructor from Eigen::RotationBase.

This Constructor sets the translational part to zero.

Member Function Documentation

template<typename _Scalar >

static const CartesianPosition& ow_core::CartesianPosition< _Scalar >::Default ( )

inlinestatic

Construct as Default.

Default is Identity

template<typename _Scalar >

static const CartesianPosition& ow_core::CartesianPosition< _Scalar >::Identity ( )

inlinestatic

Construct as Identity.

Todo:

maby expression

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The documentation for this class was generated from the following file:

• /home/dean/ros/workspaces/ow_test_ws/src/ow_core/include/ow_core/cartesian_position.h