Drake
PoseVelocity Class Referencefinal

Wraps the raw data contained in a trajectory expressed in terms of pose and velocity values. More...

#include <automotive/agent_trajectory.h>

Public Member Functions

 PoseVelocity ()
 Default constructor. More...
 
 PoseVelocity (const Eigen::Quaternion< double > &rotation, const Eigen::Vector3d &translation, const multibody::SpatialVelocity< double > &velocity)
 Fully-parameterized constructor. More...
 
const Eigen::Vector3d & translation () const
 Accesses p_WA, the translation component of the pose of A, expressed in world-frame coordinates W. More...
 
const Eigen::Quaternion< double > & rotation () const
 Accesses R_WA, the rotation component of the pose of A, expressed in world-frame coordinates W. More...
 
Eigen::Vector3d pose3 () const
 Accesses the projection of the pose of frame A to the x-y components of translation and the z-component of rotation. More...
 
const multibody::SpatialVelocity< double > & velocity () const
 Accesses Xdot_WA, a SpatialVelocity of frame A, expressed in world-frame coordinates W. More...
 
double speed () const
 Gets the speed ‖pdot_WA‖₂, the 2-norm of the world-frame translational velocities. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 PoseVelocity (const PoseVelocity &)=default
 
PoseVelocityoperator= (const PoseVelocity &)=default
 
 PoseVelocity (PoseVelocity &&)=default
 
PoseVelocityoperator= (PoseVelocity &&)=default
 

Detailed Description

Wraps the raw data contained in a trajectory expressed in terms of pose and velocity values.

Represents a translational and rotational transformation of a reference frame A with respect to world frame W, expressed in x-y-z coordinates, and translational and rotational velocities of frame A with respect to W.

Constructor & Destructor Documentation

PoseVelocity ( const PoseVelocity )
default
PoseVelocity ( PoseVelocity &&  )
default

Default constructor.

Sets rotation to an identity transform and all translation and velocity components to zero.

PoseVelocity ( const Eigen::Quaternion< double > &  rotation,
const Eigen::Vector3d &  translation,
const multibody::SpatialVelocity< double > &  velocity 
)

Fully-parameterized constructor.

Parameters
rotationthe orientation R_WA of frame A with respect to the world frame W, and can be either normalized or unnormalized.
translationthe x, y, z position p_WA of frame A measured from W's origin.
velocitythe (rotational/translational) spatial velocity Xdot_WA of the frame A with respect to frame W.

Member Function Documentation

PoseVelocity& operator= ( const PoseVelocity )
default
PoseVelocity& operator= ( PoseVelocity &&  )
default
Eigen::Vector3d pose3 ( ) const
inline

Accesses the projection of the pose of frame A to the x-y components of translation and the z-component of rotation.

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const Eigen::Quaternion<double>& rotation ( ) const
inline

Accesses R_WA, the rotation component of the pose of A, expressed in world-frame coordinates W.

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double speed ( ) const
inline

Gets the speed ‖pdot_WA‖₂, the 2-norm of the world-frame translational velocities.

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const Eigen::Vector3d& translation ( ) const
inline

Accesses p_WA, the translation component of the pose of A, expressed in world-frame coordinates W.

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const multibody::SpatialVelocity<double>& velocity ( ) const
inline

Accesses Xdot_WA, a SpatialVelocity of frame A, expressed in world-frame coordinates W.

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