Class inertialsim::geometry::Pose¶

ClassList > inertialsim > geometry > Pose

Pose (position and orientation).More...

#include <pose.h>

Inherits the following classes: inertialsim::geometry::RigidTransformBase

Public Types inherited from inertialsim::geometry::RigidTransformBase¶

See inertialsim::geometry::RigidTransformBase

Type	Name
typedef MatrixLieGroup< Derived, 4, 6 >	Base

Public Types inherited from inertialsim::geometry::MatrixLieGroup¶

See inertialsim::geometry::MatrixLieGroup

Type	Name
typedef Eigen::Matrix< Scalar, AlgebraDimension, Eigen::Dynamic >	AlgebraArray Matrix of algebra elements (rows = axes, cols = samples).
typedef Eigen::Matrix< Scalar, AlgebraDimension, 1 >	AlgebraElement Algebra element type (vector).
typedef std::vector< GroupElement >	GroupArray Array of group elements.
typedef Eigen::Matrix< Scalar, GroupDimension, GroupDimension >	GroupElement Group element type (square matrix).
typedef Eigen::Matrix< Scalar, AlgebraDimension, AlgebraDimension >	JacobianMatrix Jacobian matrix (algebra to algebra).
typedef std::vector< JacobianMatrix >	JacobianMatrixArray Array of Jacobian matrices.

Public Functions¶

Type	Name
Rotation	AsAttitude () const Return the attitude component.
Translation	AsPosition () const Return the position component.
	Pose (const Rotation & attitude, const Translation & position, const std::optional< Timestamps > & time=std::nullopt) Construct from rotation and translation.
const Rotation &	attitude () const Get the attitude (rotation) component.
int	num_poses () const Number of poses stored.
const Translation &	position () const Get the position (translation) component.

Public Functions inherited from inertialsim::geometry::RigidTransformBase¶

See inertialsim::geometry::RigidTransformBase

Type	Name
TransformMatrixArray	AsHomogeneousMatrix () const Return homogeneous transform matrices.
const Rotation &	AsRotation () const Return rotation component.
std::pair< Rotation, Translation >	AsRotationTranslation () const Return rotation and translation components.
const Translation &	AsTranslation () const Return translation component.
std::tuple< Vector3D, Vector3D >	Error (const RigidTransformBase< OtherDerived > & reference) const Calculate error compared to a reference transform.
int	num_transforms () const Number of transforms stored.

Public Functions inherited from inertialsim::geometry::MatrixLieGroup¶

See inertialsim::geometry::MatrixLieGroup

Type	Name
Vector3D	Apply (const Vector3D & vectors) const Apply the group action to an array of vectors.
Derived	Interpolate (const Timestamps & interp_time, Interpolator method=Interpolator::LINEAR) const Interpolate at given times.
Derived	Inverse () const Invert an instance.
Derived	Slice (int start, int end) const Get a slice of elements.
AlgebraArray	TimeDerivative (int order=1, int accuracy=4, const std::string & side="right") const Compute time derivative using finite differences.
int	num_elements () const Number of elements stored in the instance.
Derived	operator* (const Derived & rhs) const Composition operator on the matrix group. Supports broadcasting: if either lhs or rhs has size 1, it will be broadcast against all elements of the other operand. Derived classes may implement more efficient methods.
Derived	operator[] (int index) const Get a single element by index.
const std::optional< Timestamps > &	time () const Time array (or nullopt if not set).
virtual	~MatrixLieGroup () = default

Public Static Functions¶

Type	Name
Pose	FromAttitudePosition (const Rotation & attitude, const Translation & position, const std::optional< Timestamps > & time=std::nullopt) Construct from attitude and position.
Pose	FromAttitudePosition (RotationMatrixArray & attitude, const Vector3D & position, const std::optional< Timestamps > & time=std::nullopt, bool orthonormalize=false) Construct from rotation matrices and position vectors.

Public Static Functions inherited from inertialsim::geometry::RigidTransformBase¶

See inertialsim::geometry::RigidTransformBase

Type	Name
Derived	FromHomogeneousMatrix (const TransformMatrixArray & matrices, const std::optional< Timestamps > & time=std::nullopt, bool orthonormalize=false) Construct a RigidTransform from homogeneous transform matrices.
Derived	FromRotationTranslation (const Rotation & rotation, const Translation & translation, const std::optional< Timestamps > & time=std::nullopt) Construct a RigidTransform from rotation and translation.
Derived	FromRotationTranslation (const RotationMatrixArray & matrix, const Vector3D & xyz, const std::optional< Timestamps > & time=std::nullopt, bool orthonormalize=false) Construct from rotation matrices and translation vectors.

Public Static Functions inherited from inertialsim::geometry::MatrixLieGroup¶

See inertialsim::geometry::MatrixLieGroup

Type	Name
Derived	Compose (const std::vector< Derived > & instances) Compose a sequence of instances (first to last).
Derived	FromIdentity (int num_elements=1) Create identity elements.
Derived	FromRandom (int num_elements=1, std::optional< Eigen::numext::uint64_t > seed=std::nullopt) Create random elements.

Protected Functions inherited from inertialsim::geometry::RigidTransformBase¶

See inertialsim::geometry::RigidTransformBase

Type	Name
Vector3D	ApplyImpl (const Vector3D & vectors) const Apply transform to vectors.
AlgebraArray	AsAlgebraImpl () const Return as algebra elements (for CRTP interface).
GroupArray	AsGroupImpl () const Return as group elements (for CRTP interface).
Derived	InverseImpl () const Return the inverse transform.
	RigidTransformBase () Default constructor.
	RigidTransformBase (const Rotation & rotation, const Translation & translation, const std::optional< Timestamps > & time=std::nullopt) Construct from rotation and translation.
int	num_elements_impl () const Number of transforms stored.

Protected Functions inherited from inertialsim::geometry::MatrixLieGroup¶

See inertialsim::geometry::MatrixLieGroup

Type	Name
AlgebraArray	AsAlgebra () const Get the algebra elements.
GroupArray	AsGroup () const Get the group elements.
Derived	CubicHermiteInterpolate (const Timestamps & time) const Cubic Hermite spline interpolation.
Derived	LinearInterpolate (const Timestamps & time) const Linear interpolation implementation.
	MatrixLieGroup (const std::optional< Timestamps > & time=std::nullopt) Constructor.
Derived &	derived () CRTP helper to access derived class.
const Derived &	derived () const
int	num_times () const

Protected Static Functions inherited from inertialsim::geometry::RigidTransformBase¶

See inertialsim::geometry::RigidTransformBase

Type	Name
GroupElement	ExpImpl (const AlgebraElement & vector) Exponential map: se(3) to SE(3).
Derived	FromAlgebraImpl (const AlgebraArray & algebra, const std::optional< Timestamps > & time) Construct from algebra elements (for CRTP interface).
Derived	FromGroupImpl (const GroupArray & elements, const std::optional< Timestamps > & time) Construct from group elements (for CRTP interface).
Derived	FromIdentityImpl (int num_elements) Construct identity transforms.
Derived	FromRandomImpl (int num_transforms, std::optional< uint64_t > seed=std::nullopt) Construct uniformly distributed random transforms.
Eigen::Matrix3d	JacobianAuxiliary (const Eigen::Vector3d & rv, const Eigen::Vector3d & t) Auxiliary matrix Q for SE(3) Jacobians.
JacobianMatrixArray	JacobianImpl (const AlgebraArray & algebra, const std::string & side="left", bool inverse=false) Left or Right Jacobian of SE(3).
AlgebraElement	LogImpl (const GroupElement & element) Logarithm map: SE(3) to se(3).

Protected Static Functions inherited from inertialsim::geometry::MatrixLieGroup¶

See inertialsim::geometry::MatrixLieGroup

Type	Name
GroupElement	Exp (const AlgebraElement & vector) Exponential map from algebra to group.
Derived	FromAlgebra (const AlgebraArray & elements, const std::optional< Timestamps > & time) Create instance from algebra elements.
Derived	FromGroup (const GroupArray & elements, const std::optional< Timestamps > & time) Create instance from group elements.
JacobianMatrixArray	Jacobian (const AlgebraArray & algebra, const std::string & side="left", bool inverse=false) Calculate the Jacobian given algebra elements.
AlgebraElement	Log (const GroupElement & element) Logarithm map from group to algebra.

Detailed Description¶

Pose is an alias for RigidTransform with additional convenience attributes. It adds additional convenience attributes and methods specific to robot pose representation (attitude and position terminology).

Poses can be constructed from a rotation and translation (R, t) or from a homogeneous transform matrix: [[R, t], [0, 1]]. Prefer the From* methods to construct an instance.

Public Functions Documentation¶

function AsAttitude¶

Return the attitude component.

inline Rotation inertialsim::geometry::Pose::AsAttitude () const

Returns:

Rotation instance.

function AsPosition¶

Return the position component.

inline Translation inertialsim::geometry::Pose::AsPosition () const

Returns:

Translation instance.

function Pose¶

Construct from rotation and translation.

inline inertialsim::geometry::Pose::Pose (
    const Rotation & attitude,
    const Translation & position,
    const std::optional< Timestamps > & time=std::nullopt
)

Parameters:

rotation Rotation component.
translation Translation component.
time Optional time array.

function attitude¶

Get the attitude (rotation) component.

inline const Rotation & inertialsim::geometry::Pose::attitude () const

function num_poses¶

Number of poses stored.

inline int inertialsim::geometry::Pose::num_poses () const

function position¶

Get the position (translation) component.

inline const Translation & inertialsim::geometry::Pose::position () const

Public Static Functions Documentation¶

function FromAttitudePosition [½]¶

Construct from attitude and position.

static inline Pose inertialsim::geometry::Pose::FromAttitudePosition (
    const Rotation & attitude,
    const Translation & position,
    const std::optional< Timestamps > & time=std::nullopt
)

Parameters:

attitude Rotation instance.
position Translation instance.
time Optional time array (ignored if attitude has time).

Returns:

Pose instance.

function FromAttitudePosition [2/2]¶

Construct from rotation matrices and position vectors.

static inline Pose inertialsim::geometry::Pose::FromAttitudePosition (
    RotationMatrixArray & attitude,
    const Vector3D & position,
    const std::optional< Timestamps > & time=std::nullopt,
    bool orthonormalize=false
)

Parameters:

rotation_matrices Vector of 3x3 rotation matrices.
position_xyz Position coordinates (3xN).
time Optional time array.
orthonormalize If true, enforce orthonormality.

Returns:

Pose instance.

Friends Documentation¶

friend INS¶

class inertialsim::geometry::Pose::INS (
    sensors::INS
)

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/pose.h