valor::geometry::Pose3d Class Reference

Represents a 3D pose as a 4x4 homogeneous transformation matrix. More...

#include <valkyrie/util/geometry/Pose.h>

Inheritance diagram for valor::geometry::Pose3d:

Public Types
using	Twist3d = EigenUnit::UnitVector<units::meter, units::meter, units::meter, units::radian, units::radian, units::radian>

Public Member Functions
	Pose3d (const BaseMatrix &b)
	Pose3d (Translation3d trans, Rotation3d rot)
	Construct a Pose3d from a translation and rotation.
	Pose3d (const Pose2d &pose)
	Construct a Pose3d from a Pose2d in the X-Y plane.
	Pose3d (frc::Translation3d frcTrans, frc::Rotation3d frcRot)
	Construct a Pose3d from an frc::Translation3d and frc::Rotation3d.
	Pose3d (frc::Pose3d frcPose)
	Construct a Pose3d from an frc::Pose3d.
	Pose3d (frc::Pose2d frcPose)
	Construct a Pose3d from an frc::Pose2d, lifting into 3D. Z is set to zero and pitch and roll are set to zero.
Translation3d	Translation () const
Rotation3d	Rotation () const
units::meter_t	X () const
units::meter_t	Y () const
units::meter_t	Z () const
Pose2d	ToPose2d () const
	Project this pose onto the X-Y plane.
Pose3d	TransformBy (const Transform3d &transform) const
	Apply a Transform3d in this pose's frame.
Pose3d	RelativeTo (const Pose3d &other) const
	Express this pose relative to another pose.
Pose3d	RotateBy (const Rotation3d &rot) const
	Rotate this pose around the global origin.
Pose3d	RotateAround (const Translation3d &point, const Rotation3d &rot) const
	Rotate this pose around an arbitrary point in 3D space.
Pose3d	Nearest (std::initializer_list< Pose3d > poses) const
	Find the nearest pose from a collection.
Pose3d	operator+ (const Transform3d &transform) const
	operator+ applies a Transform3d.
Transform3d	operator- (const Pose3d &other) const
	operator- returns the Transform3d mapping other -> this.
Pose3d	operator* (double scalar) const
	Scalar multiplication of both translation and rotation.
Pose3d	operator/ (double scalar) const
	Scalar division.
Twist3d	Log () const
	Logarithm map: SE(3) -> se(3).
Public Member Functions inherited from valor::EigenUnit::NamedPhysicalMatrix< Pose3d, EigenUnit::PhysicalMatrix< HomogeneousVector3d, HomogeneousVector3d > >
	NamedPhysicalMatrix (const EigenUnit::PhysicalMatrix< HomogeneousVector3d, HomogeneousVector3d > &base)
Pose3d	Inverse () const
auto	Block () const

Static Public Member Functions
static Pose3d	Exp (Twist3d twist)
	Exponential map: se(3) -> SE(3).

Detailed Description

Represents a 3D pose as a 4x4 homogeneous transformation matrix.

Constructor & Destructor Documentation

Pose3d() [1/5]

valor::geometry::Pose3d::Pose3d ( Translation3d trans, Rotation3d rot )

inline

Construct a Pose3d from a translation and rotation.

Creates a matrix of the form: [ R R R T ] [ R R R T ] [ R R R T ] [ 0 0 0 1 ]

Pose3d() [2/5]

valor::geometry::Pose3d::Pose3d ( const Pose2d & pose )

inlineexplicit

Construct a Pose3d from a Pose2d in the X-Y plane.

Parameters

pose	The 2D pose.

Pose3d() [3/5]

valor::geometry::Pose3d::Pose3d ( frc::Translation3d frcTrans, frc::Rotation3d frcRot )

inlineexplicit

Construct a Pose3d from an frc::Translation3d and frc::Rotation3d.

Parameters

frcTrans	The frc translation component.
frcRot	The frc rotation component.

Pose3d() [4/5]

valor::geometry::Pose3d::Pose3d ( frc::Pose3d frcPose )

inlineexplicit

Construct a Pose3d from an frc::Pose3d.

Parameters

frcPose

The frc pose to convert.

Pose3d() [5/5]

valor::geometry::Pose3d::Pose3d ( frc::Pose2d frcPose )

inlineexplicit

Construct a Pose3d from an frc::Pose2d, lifting into 3D. Z is set to zero and pitch and roll are set to zero.

Parameters

frcPose

The frc 2D pose to lift into 3D.

Member Function Documentation

Nearest()

Pose3d valor::geometry::Pose3d::Nearest ( std::initializer_list< Pose3d > poses ) const

inline

Find the nearest pose from a collection.

Parameters

poses

Collection of candidate poses.

Returns

The nearest pose by translation distance.

RelativeTo()

Pose3d valor::geometry::Pose3d::RelativeTo ( const Pose3d & other ) const

inline

Express this pose relative to another pose.

Parameters

other

The reference pose.

Returns

This pose in the other's frame.

RotateAround()

Pose3d valor::geometry::Pose3d::RotateAround ( const Translation3d & point, const Rotation3d & rot ) const

inline

Rotate this pose around an arbitrary point in 3D space.

Parameters

point	The pivot point.
rot	The rotation to apply.

Returns

The rotated pose.

RotateBy()

Pose3d valor::geometry::Pose3d::RotateBy ( const Rotation3d & rot ) const

inline

Rotate this pose around the global origin.

Parameters

rot	The rotation to apply globally.

Returns

The rotated pose.

ToPose2d()

Pose2d valor::geometry::Pose3d::ToPose2d ( ) const

inline

Project this pose onto the X-Y plane.

Returns

The 2D pose.

TransformBy()

Pose3d valor::geometry::Pose3d::TransformBy ( const Transform3d & transform ) const

inline

Apply a Transform3d in this pose's frame.

Parameters

transform

The transform to apply.

Returns

The new pose.

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

• src/main/include/valkyrie/util/geometry/Pose.h