mars::Pose Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/type_definitions/mars_types.h>

Collaboration diagram for mars::Pose:

Public Member Functions
	Pose ()=default
	Pose (const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation)
	Pose (const Eigen::Vector3d &position, const Eigen::Matrix3d &rotation)
void	set_meas_noise (Eigen::Vector3d n_p, Eigen::Vector3d n_r)
bool	operator== (const Pose &rhs) const
Eigen::Matrix< double, 6, 6 >	get_meas_noise_mat () const
Pose	get_inverse_pose () const
	Return inverse transformation (T_AB -> T_BA) as mars::Pose. More...

Public Attributes
Eigen::Vector3d	p_ { Eigen::Vector3d::Zero() }
Eigen::Quaterniond	q_ { Eigen::Quaterniond::Identity() }
Eigen::Vector3d	n_p_ { Eigen::Vector3d::Ones() * 0.1 }
Eigen::Vector3d	n_r_ { Eigen::Vector3d::Ones() * 0.1 }

Friends
std::ostream &	operator<< (std::ostream &out, const Pose &data)

Constructor & Destructor Documentation

Pose() [1/3]

mars::Pose::Pose ( )

default

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Pose() [2/3]

mars::Pose::Pose ( const Eigen::Vector3d &  position, const Eigen::Quaterniond &  orientation  )

inline

                                                                           : p_(position), q_(orientation)
  {
  }

Pose() [3/3]

mars::Pose::Pose ( const Eigen::Vector3d &  position, const Eigen::Matrix3d &  rotation  )

inline

                                                                     : p_(position), q_(rotation)
  {
  }

Member Function Documentation

set_meas_noise()

void mars::Pose::set_meas_noise ( Eigen::Vector3d  n_p, Eigen::Vector3d  n_r  )

inline

  {
    n_p_ = n_p;
    n_r_ = n_r;
  }

operator==()

bool mars::Pose::operator== ( const Pose &  rhs ) const

inline

  {
    return ((p_ == rhs.p_) && ((q_.coeffs() == rhs.q_.coeffs())));
  }

get_meas_noise_mat()

Eigen::Matrix<double, 6, 6> mars::Pose::get_meas_noise_mat ( ) const

inline

  {
    Eigen::Matrix<double, 6, 1> vec;
    vec << n_p_, n_r_;
    return vec.asDiagonal();
  }

get_inverse_pose()

Pose mars::Pose::get_inverse_pose ( ) const

inline

Return inverse transformation (T_AB -> T_BA) as mars::Pose.

Returns

Pose

  {
    return Pose(-q_.toRotationMatrix().transpose() * p_, q_.conjugate());
  }

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Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  out, const Pose &  data  )

friend

  {
    out << "p: " << data.p_[0] << ", " << data.p_[1] << ", " << data.p_[2];
    out << " q: " << data.q_.w() << ", " << data.q_.x() << ", " << data.q_.y() << ", " << data.q_.z();
 
    return out;
  }

Member Data Documentation

p_

Eigen::Vector3d mars::Pose::p_ { Eigen::Vector3d::Zero() }

q_

Eigen::Quaterniond mars::Pose::q_ { Eigen::Quaterniond::Identity() }

n_p_

Eigen::Vector3d mars::Pose::n_p_ { Eigen::Vector3d::Ones() * 0.1 }

n_r_

Eigen::Vector3d mars::Pose::n_r_ { Eigen::Vector3d::Ones() * 0.1 }

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

• mars_types.h