Kindr
Kinematics and Dynamics for Robotics
kindr::PoseBase< Derived_ > Class Template Reference

Base class that defines the interface of a pose of a rigid body. More...

#include <PoseBase.hpp>

Public Member Functions

 PoseBase ()=default
 Default constructor. More...
 
 PoseBase (const Derived_ &)=delete
 Constructor from derived pose. This constructor has been deleted because the abstract class does not contain any data. More...
 
 operator Derived_ & ()
 Gets the derived pose. More...
 
 operator const Derived_ & () const
 Gets the derived pose. More...
 
const Derived_ & derived () const
 Gets the derived pose. More...
 
internal::get_position< Derived_ >::Position transform (const typename internal::get_position< Derived_ >::Position &position) const
 Transforms a position. More...
 
internal::get_position< Derived_ >::Position inverseTransform (const typename internal::get_position< Derived_ >::Position &position) const
 Transforms a position in reverse. More...
 
template<typename OtherDerived_ >
Derived_ operator* (const PoseBase< OtherDerived_ > &other) const
 Concatenates two transformations. More...
 
template<typename OtherDerived_ >
bool operator== (const PoseBase< OtherDerived_ > &other) const
 Compares two poses. More...
 
Derived_ & setIdentity ()
 Sets the pose to identity. More...
 

Detailed Description

template<typename Derived_>
class kindr::PoseBase< Derived_ >

Base class that defines the interface of a pose of a rigid body.

This class defines the interface of a pose of a rigid body. A pose of a rigid body describes the position and orientation of the rigid body in space. The position and orientation are described by position coordinates and a rotation, respectively.

Template Parameters
Derived_the derived class that should implement the pose.

Definition at line 79 of file PoseBase.hpp.

Constructor & Destructor Documentation

◆ PoseBase() [1/2]

template<typename Derived_>
kindr::PoseBase< Derived_ >::PoseBase ( )
default

Default constructor.

Creates a pose with all position coordinates set to zero and an identity orientation.

◆ PoseBase() [2/2]

template<typename Derived_>
kindr::PoseBase< Derived_ >::PoseBase ( const Derived_ &  )
delete

Constructor from derived pose. This constructor has been deleted because the abstract class does not contain any data.

Member Function Documentation

◆ derived()

template<typename Derived_>
const Derived_& kindr::PoseBase< Derived_ >::derived ( ) const
inline

Gets the derived pose.

(only for advanced users)

Returns
the derived pose

Definition at line 115 of file PoseBase.hpp.

◆ inverseTransform()

template<typename Derived_>
internal::get_position<Derived_>::Position kindr::PoseBase< Derived_ >::inverseTransform ( const typename internal::get_position< Derived_ >::Position position) const
inline

Transforms a position in reverse.

Returns
the transformed position

Definition at line 130 of file PoseBase.hpp.

◆ operator const Derived_ &()

template<typename Derived_>
kindr::PoseBase< Derived_ >::operator const Derived_ & ( ) const
inline

Gets the derived pose.

(only for advanced users)

Returns
the derived pose

Definition at line 106 of file PoseBase.hpp.

◆ operator Derived_ &()

template<typename Derived_>
kindr::PoseBase< Derived_ >::operator Derived_ & ( )
inline

Gets the derived pose.

(only for advanced users)

Returns
the derived pose

Definition at line 97 of file PoseBase.hpp.

◆ operator*()

template<typename Derived_>
template<typename OtherDerived_ >
Derived_ kindr::PoseBase< Derived_ >::operator* ( const PoseBase< OtherDerived_ > &  other) const
inline

Concatenates two transformations.

Returns
the concatenation of two transformations

Definition at line 138 of file PoseBase.hpp.

◆ operator==()

template<typename Derived_>
template<typename OtherDerived_ >
bool kindr::PoseBase< Derived_ >::operator== ( const PoseBase< OtherDerived_ > &  other) const
inline

Compares two poses.

Returns
true if the poses are exactly equal

Definition at line 146 of file PoseBase.hpp.

◆ setIdentity()

template<typename Derived_>
Derived_& kindr::PoseBase< Derived_ >::setIdentity ( )

Sets the pose to identity.

Returns
reference

◆ transform()

template<typename Derived_>
internal::get_position<Derived_>::Position kindr::PoseBase< Derived_ >::transform ( const typename internal::get_position< Derived_ >::Position position) const
inline

Transforms a position.

Returns
the transformed position

Definition at line 123 of file PoseBase.hpp.


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