Public Member Functions |
Static Public Member Functions |
Protected Attributes |
List of all members
al::Pose Class Reference
A local coordinate frame. More...
Inheritance diagram for al::Pose:
Public Member Functions | |
| Pose (const Vec3d &pos=Vec3d(0), const Quatd &ori=Quatd::identity()) | |
| Pose (const Pose &p) | |
| Copy constructor. | |
| Pose | operator* (const Pose &v) const |
| Get pose transformed by another pose. | |
| Pose & | operator*= (const Pose &v) |
| Translate and rotate by argument. | |
| bool | operator== (const Pose &v) const |
| void | faceToward (const Vec3d &p, double amt=1.) |
| Turn to face a given world-coordinate point. | |
| void | faceToward (const Vec3d &point, const Vec3d &up, double amt=1.) |
| Vec3d & | pos () |
| Get "position" vector. | |
| const Vec3d & | pos () const |
| Vec3d & | vec () |
| Get vector component. | |
| const Vec3d & | vec () const |
| Quatd & | quat () |
| Get quaternion component (represents orientation) | |
| const Quatd & | quat () const |
| double | x () const |
| double | y () const |
| double | z () const |
| Mat4d | matrix () const |
| Convert to 4x4 projection space matrix. | |
| Mat4d | directionMatrix () const |
| Convert to 4x4 direction matrix. | |
| void | toAED (const Vec3d &to, double &azimuth, double &elevation, double &distance) const |
| Get the azimuth, elevation & distance from this to another point. | |
| Vec3d | ux () const |
| Get world space X unit vector. | |
| Vec3d | uy () const |
| Get world space Y unit vector. | |
| Vec3d | uz () const |
| Get world space Z unit vector. | |
| template<class T > | |
| void | unitVectors (Vec< 3, T > &ux, Vec< 3, T > &uy, Vec< 3, T > &uz) const |
| Get world space unit vectors. | |
| template<class T > | |
| void | directionVectors (Vec< 3, T > &ur, Vec< 3, T > &uu, Vec< 3, T > &uf) const |
| Get local right, up, and forward unit vectors. | |
| Vec3d | ur () const |
| Get right unit vector. | |
| Vec3d | uu () const |
| Get up unit vector. | |
| Vec3d | uf () const |
| Get forward unit vector (negative of Z) | |
| Pose | lerp (const Pose &target, double amt) const |
| Get a linear-interpolated Pose between this and another. | |
| Pose & | set (Pose &src) |
| Copy all attributes from another Pose. | |
| Pose & | set (const Pose &src) |
| Set state from another Pose. | |
| Pose & | setIdentity () |
| Set to identity transform. | |
| template<class T > | |
| Pose & | pos (const Vec< 3, T > &v) |
| Set position. | |
| Pose & | pos (double x, double y, double z) |
| Set position from individual components. | |
| template<class T > | |
| Pose & | vec (const Vec< 3, T > &v) |
| Set vector component. | |
| template<class T > | |
| Pose & | quat (const Quat< T > &v) |
| Set quaternion component. | |
| operator Vec3d () | |
| operator Quatd () | |
| void | print () const |
| Print to standard output. | |
Static Public Member Functions | |
| static Pose | identity () |
| Get identity. | |
Protected Attributes | |
| Vec3d | mVec |
| Quatd | mQuat |
Detailed Description
A local coordinate frame.
A Pose is a combined position (3-vector) and orientation (quaternion). Local coordinate bases are referred to as r, u, and f which stand for right, up, and forward, respectively.
Definition at line 63 of file al_Pose.hpp.
Constructor & Destructor Documentation
◆ Pose()
| al::Pose::Pose | ( | const Vec3d & | pos = Vec3d(0), |
| const Quatd & | ori = Quatd::identity() |
||
| ) |
- Parameters
-
[in] pos Initial position [in] ori Initial orientation
Member Function Documentation
◆ faceToward()
Turn to face a given world-coordinate point, while maintaining an up vector
The documentation for this class was generated from the following file:
