Class slamcore::PoseInterface¶
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template<typename ClockT>
class slamcore::PoseInterface : public ObjectInterface, public virtual slamcore::MeasurementPointInterface<ClockT>¶ Representing the 3D pose.
Note
Covariance information is not supported yet.
Subclassed by PoseWriteInterface< ClockT >
Public Types
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using Ptr = std::shared_ptr<PoseInterface>¶
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using CPtr = std::shared_ptr<const PoseInterface>¶
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using MeasurementPointT = MeasurementPointInterface<ClockT>¶
Public Functions
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inline virtual ObjectType type() const¶
Type of the object.
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virtual ~PoseInterface() = default¶
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virtual const VectorInterface &getRotation() const = 0¶
Returns the rotation part - Quaternion X,Y,Z,W.
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virtual const VectorInterface &getTranslation() const = 0¶
Returns the translation vector part.
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virtual bool haveCovarianceMatrix() const = 0¶
Check first if the covariance matrix is provided.
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virtual const MatrixInterface &getCovariance() const = 0¶
Returns the covariance matrix - pose uncertainty.
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virtual const ReferenceFrameInterface &getChildReferenceFrame() const = 0¶
Returns the frame of reference the pose defines
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using Ptr = std::shared_ptr<PoseInterface>¶