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Class slamcore::PoseInterface
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template<typename ClockT>
class 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>