Template class representing a pose (Position + Orientation). More...

#include <headers/utility/graphic/pose.hpp>

Public Member Functions
	Pose (void)
	Default constructor (zero position, identity orientation).

	Pose (const Position< PoseComponentType > &position, const Orientation< PoseComponentType > &orientation)
	Construct a pose from position and orientation.

	Pose (const Pose &other)=default
	Copy constructor.

	Pose (Pose &&other) noexcept=default
	Move constructor.

Pose &	operator= (const Pose &other)=default
	Copy assignment operator.

Pose &	operator= (Pose &&other) noexcept=default
	Move assignment operator.

	~Pose (void)=default
	Default destructor for Pose.

Pose &	setPosition (const Position< PoseComponentType > &position) noexcept
	Set the position component.

Pose &	setPosition (math::Vector< PoseComponentType, 3 > position) noexcept
	Set the position component using a vector.

const Position< PoseComponentType > &	getPosition (void) const noexcept
	Get the position component.

Pose &	setOrientation (const Orientation< PoseComponentType > &orientation) noexcept
	Set the orientation component.

Pose &	setOrientation (math::Quaternion< PoseComponentType > quaternion) noexcept
	Set the orientation component using a quaternion.

const Orientation< PoseComponentType > &	getOrientation (void) const noexcept
	Get the orientation component.

Pose &	translate (const Position< PoseComponentType > &offset) noexcept
	Translate pose position by an offset.

Pose	translated (const Position< PoseComponentType > &offset) const noexcept
	Return translated copy of this pose.

Ray< PoseComponentType >	toForwardRay () const noexcept
	Get a ray representing the forward direction of the pose.

Ray< PoseComponentType >	toUpRay () const noexcept
	Get a ray representing the right direction of the pose.

Ray< PoseComponentType >	toRightRay () const noexcept
	Get a ray representing the up direction of the pose.

bool	operator== (const Pose &other) const noexcept
	Equality comparison.

bool	operator!= (const Pose &other) const noexcept
	Inequality comparison.

bool	operator< (const Pose &other) const noexcept
	Less-than comparison for ordering.

Detailed Description

template<CanBePoseComponent PoseComponentType>
class utility::graphic::Pose< PoseComponentType >

Template class representing a pose (Position + Orientation).

A pose encodes both the spatial Position and the Orientation of an object in 3D space.

Template Parameters

PoseComponentType Floating-point type for Position and Orientation components.

Definition at line 50 of file pose.hpp.

Constructor & Destructor Documentation

◆ Pose() [1/4]

template<CanBePoseComponent PoseComponentType>

utility::graphic::Pose< PoseComponentType >::Pose ( void )

inline

Default constructor (zero position, identity orientation).

Definition at line 67 of file pose.hpp.

◆ Pose() [2/4]

template<CanBePoseComponent PoseComponentType>

utility::graphic::Pose< PoseComponentType >::Pose	(	const Position< PoseComponentType > &	position,
		const Orientation< PoseComponentType > &	orientation
	)

inline

Construct a pose from position and orientation.

Parameters

position	The position component.
orientation	The orientation component.

Definition at line 77 of file pose.hpp.

◆ Pose() [3/4]

template<CanBePoseComponent PoseComponentType>

utility::graphic::Pose< PoseComponentType >::Pose ( const Pose< PoseComponentType > & other )

default

Copy constructor.

Parameters

other The Pose object to copy from.

◆ Pose() [4/4]

template<CanBePoseComponent PoseComponentType>

utility::graphic::Pose< PoseComponentType >::Pose ( Pose< PoseComponentType > && other )

defaultnoexcept

Move constructor.

Parameters

other The Pose object to move from.

Member Function Documentation

◆ getOrientation()

template<CanBePoseComponent PoseComponentType>

const Orientation< PoseComponentType > & utility::graphic::Pose< PoseComponentType >::getOrientation ( void ) const

inlinenoexcept

Get the orientation component.

Returns: Const reference to the orientation.

Definition at line 175 of file pose.hpp.

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◆ getPosition()

template<CanBePoseComponent PoseComponentType>

const Position< PoseComponentType > & utility::graphic::Pose< PoseComponentType >::getPosition ( void ) const

inlinenoexcept

Get the position component.

Returns: Const reference to the position.

Definition at line 141 of file pose.hpp.

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◆ operator!=()

template<CanBePoseComponent PoseComponentType>

bool utility::graphic::Pose< PoseComponentType >::operator!= ( const Pose< PoseComponentType > & other ) const

inlinenoexcept

Inequality comparison.

Parameters

other Pose to compare with.

Returns: True when either position or orientation differs.

Definition at line 247 of file pose.hpp.

◆ operator<()

template<CanBePoseComponent PoseComponentType>

bool utility::graphic::Pose< PoseComponentType >::operator< ( const Pose< PoseComponentType > & other ) const

inlinenoexcept

Less-than comparison for ordering.

Parameters

other Pose to compare with.

Returns: True when this pose is less than the other pose.

Definition at line 257 of file pose.hpp.

◆ operator=() [1/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::operator= ( const Pose< PoseComponentType > & other )

default

Copy assignment operator.

Parameters

other The Pose object to copy from.

Returns: A reference to this Pose object.

◆ operator=() [2/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::operator= ( Pose< PoseComponentType > && other )

defaultnoexcept

Move assignment operator.

Parameters

other The Pose object to move from.

Returns: A reference to this Pose object.

◆ operator==()

template<CanBePoseComponent PoseComponentType>

bool utility::graphic::Pose< PoseComponentType >::operator== ( const Pose< PoseComponentType > & other ) const

inlinenoexcept

Equality comparison.

Parameters

other Pose to compare with.

Returns: True when position and orientation are equal.

Definition at line 236 of file pose.hpp.

◆ setOrientation() [1/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::setOrientation ( const Orientation< PoseComponentType > & orientation )

inlinenoexcept

Set the orientation component.

Parameters

orientation New orientation value.

Returns: Reference to this object for chaining.

Definition at line 151 of file pose.hpp.

◆ setOrientation() [2/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::setOrientation ( math::Quaternion< PoseComponentType > quaternion )

inlinenoexcept

Set the orientation component using a quaternion.

Parameters

quaternion New orientation value as a quaternion.

Returns: Reference to this object for chaining.

Definition at line 163 of file pose.hpp.

◆ setPosition() [1/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::setPosition ( const Position< PoseComponentType > & position )

inlinenoexcept

Set the position component.

Parameters

position New position value.

Returns: Reference to this object for chaining.

Definition at line 120 of file pose.hpp.

◆ setPosition() [2/2]

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::setPosition ( math::Vector< PoseComponentType, 3 > position )

inlinenoexcept

Set the position component using a vector.

Parameters

position New position value as a 3D vector.

Returns: Reference to this object for chaining.

Definition at line 131 of file pose.hpp.

◆ toForwardRay()

template<CanBePoseComponent PoseComponentType>

Ray< PoseComponentType > utility::graphic::Pose< PoseComponentType >::toForwardRay ( ) const

inlinenoexcept

Get a ray representing the forward direction of the pose.

Returns: Ray pointing in the forward direction from the pose position.

Definition at line 208 of file pose.hpp.

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◆ toRightRay()

template<CanBePoseComponent PoseComponentType>

Ray< PoseComponentType > utility::graphic::Pose< PoseComponentType >::toRightRay ( ) const

inlinenoexcept

Get a ray representing the up direction of the pose.

Returns: Ray pointing in the up direction from the pose position.

Definition at line 226 of file pose.hpp.

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◆ toUpRay()

template<CanBePoseComponent PoseComponentType>

Ray< PoseComponentType > utility::graphic::Pose< PoseComponentType >::toUpRay ( ) const

inlinenoexcept

Get a ray representing the right direction of the pose.

Returns: Ray pointing in the right direction from the pose position.

Definition at line 217 of file pose.hpp.

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◆ translate()

template<CanBePoseComponent PoseComponentType>

Pose & utility::graphic::Pose< PoseComponentType >::translate ( const Position< PoseComponentType > & offset )

inlinenoexcept

Translate pose position by an offset.

Parameters

offset Position offset to apply.

Returns: Reference to this pose for chaining.

Definition at line 185 of file pose.hpp.

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◆ translated()

template<CanBePoseComponent PoseComponentType>

Pose utility::graphic::Pose< PoseComponentType >::translated ( const Position< PoseComponentType > & offset ) const

inlinenoexcept

Return translated copy of this pose.

Parameters

offset Position offset to apply.

Returns: A translated pose copy.

Definition at line 197 of file pose.hpp.

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

headers/utility/graphic/pose.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Pose() [1/4]

◆ Pose() [2/4]

◆ Pose() [3/4]

◆ Pose() [4/4]

Member Function Documentation

◆ getOrientation()

◆ getPosition()

◆ operator!=()

◆ operator<()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ setOrientation() [1/2]

◆ setOrientation() [2/2]

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ toForwardRay()

◆ toRightRay()

◆ toUpRay()

◆ translate()

◆ translated()