Detailed Description

template<class T>
class asl::Pose_< T >

A Pose is a combination of a position and an orientation in 3D space.

#include <Pose.h>

Public Member Functions
	Pose_ (const Matrix4_< T > &m)
	Constructs a pose given an affine transformation matrix (it should be orthonormal)

	Pose_ (const Vec3_< T > &pos, const Quaternion_< T > &rot)
	Constructs a pose given a rotation and a position.

	Pose_ (T pan, T tilt, const Vec3_< T > &pos, const Vec3_< T > &up=Vec3_< T >(0, 1, 0), const Vec3_< T > &right=Vec3_< T >(1, 0, 0))
	Constructs a pose given two pan/tilt angles and a position.

Matrix4_< T >	matrix () const
	Returns the affine transformation matrix equivalent of this pose.

const Vec3_< T > &	position () const
	Returns the translation part of this pose.

const Quaternion_< T > &	orientation () const
	Returns the orientation part of this pose.

Pose_	interpolate (const Pose_ &pose, T t)
	Returns the interpolated pose between this and 'pose' with t as interpolation factor [0,1].

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

Public Member Functions