MoveG Namespace Reference

Namespace for movement and manipulation of poses. More...

Classes
class	Pose
	Class representing a pose in 3D space. More...
class	Rotation
	Class for representing and managing rotations in three-dimensional space. More...

Functions
std::ostream &	operator<< (std::ostream &os, const Pose &pose)
std::ostream &	operator<< (std::ostream &os, const Rotation &rotation)

Detailed Description

Namespace for movement and manipulation of poses.

Extrinsic vs intrinsic rotations.

• Extrinsic: all rotations refer to a fixed/global coordinate system xyz. Each rotation applies to the global coordinate system.
• Intrinsic: each rotation refers to the previously rotated coordinate system. For example, an intrinsic Yaw-Pitch'-Roll'' (z-y'-x'') rotation: 1) Rotation around the global z-axis. 2) Rotation around the new y'-axis. 3) Rotation around the new x''-axis.

Matrix multiplication occurs in order of application (the matrices are the same for both types): Intrinsic: R = R3 * R2 * R1 Extrinsic: R = R1 * R2 * R3

Function Documentation

operator<<() [1/2]

std::ostream & MoveG::operator<<	(	std::ostream &	os,
		const Pose &	pose
	)

Parameters

os	The output stream.
pose	The Pose object to insert into the stream.

Returns

Reference to the output stream.

Definition at line 281 of file pose_lib.cpp.

{
    os << "Position: [" << pose.position_.x() << ", " << pose.position_.y() << ", "
       << pose.position_.z() << "]\n";
    os << "Orientation (quaternion): [" << pose.orientation_.x() << ", " << pose.orientation_.y()
       << ", " << pose.orientation_.z() << ", " << pose.orientation_.w() << "]";
    return os;
}

operator<<() [2/2]

std::ostream & MoveG::operator<<	(	std::ostream &	os,
		const Rotation &	rotation
	)

Parameters

os	Stream to output to.
rotation	Rotation to output.

Returns

Reference to the output stream.

Definition at line 173 of file rotation_lib.cpp.

{
    Eigen::Quaterniond quat = rotation.toQuaternion();
    os << "Rotation (quaternion x,y,z,w): [" << quat.x() << ", " << quat.y() << ", " << quat.z()
       << ", " << quat.w() << "]";
    return os;
}