Package org.robwork.sdurw
Class Pose2Dd
- java.lang.Object
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- org.robwork.sdurw.Pose2Dd
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public class Pose2Dd extends java.lang.Object
A Pose3D \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.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
EigenVector3d
e()
return a Eigen vector of (x, y, theta).double
get(long i)
static long
getCPtr(Pose2Dd obj)
Vector2Dd
getPos()
Get the position vector.void
set(long i, double d)
SWIGTYPE_p_double
theta()
Get the angle.java.lang.String
toString()
static Transform2Dd
transform(Pose2Dd pose)
The transform corresponding to the pose.SWIGTYPE_p_double
x()
Get the first dimension of the position vector.SWIGTYPE_p_double
y()
Get the second dimension of the position vector.
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Constructor Detail
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Pose2Dd
public Pose2Dd(long cPtr, boolean cMemoryOwn)
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Pose2Dd
public Pose2Dd()
Zero-initialized Pose2D.
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Pose2Dd
public Pose2Dd(Vector2Dd pos, double theta)
Constructor.- Parameters:
pos
- [in] the position.theta
- [in] the angle.
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Pose2Dd
public Pose2Dd(double x, double y, double theta)
Constructor.- Parameters:
x
- [in] the value of the first position dimension.y
- [in] the value of the second position dimension.theta
- [in] the angle.
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Pose2Dd
public Pose2Dd(Transform2Dd transform)
Constructor.- Parameters:
transform
- [in] a 2D transform giving the pose.
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Method Detail
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getCPtr
public static long getCPtr(Pose2Dd obj)
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delete
public void delete()
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x
public SWIGTYPE_p_double x()
Get the first dimension of the position vector.- Returns:
- the position in the first dimension.
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y
public SWIGTYPE_p_double y()
Get the second dimension of the position vector.- Returns:
- the position in the second dimension.
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theta
public SWIGTYPE_p_double theta()
Get the angle.- Returns:
- the angle.
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getPos
public Vector2Dd getPos()
Get the position vector.- Returns:
- the position.
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transform
public static Transform2Dd transform(Pose2Dd pose)
The transform corresponding to the pose.- Parameters:
pose
- [in] the pose.- Returns:
- equivalent 2D transform.
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e
public EigenVector3d e()
return a Eigen vector of (x, y, theta).- Returns:
- Eigen vector.
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public double get(long i)
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set
public void set(long i, double d)
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