Package rst.geometry

Not documented

Messages

• Pose
• Rotation
• Translation

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Message Pose

class rst.geometry.Pose

Represents the pose (translation and rotation) of something in a coordinate system.

Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>

@create_collection

translation

Type:rst.geometry.Translation

The translation of the object with respect to the origin of the coordinate system.

rotation

Type:rst.geometry.Rotation

The rotation of the object at the position described by translation with respect to the coordinate system.

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message Pose {

    /**
     * The translation of the object with respect to the origin of the
     * coordinate system.
     */
    required Translation translation = 1;

    /**
     * The rotation of the object at the position described by
     * @ref .translation with respect to the coordinate system.
     */
    required Rotation rotation = 2;

}

Message Rotation

class rst.geometry.Rotation

Constraint: .qw x .qw + .qx x .qx + .qy x .qy + .qz x .qz = 1

Cartesian 3-dimensional rotatory displacement or orientation.

The displacement or orientation (orientation being a rotation from an origin) is in world coordinates and expressed as unit quaternion (all-zero quaternion denotes an invalid orientation/rotation).

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

@create_collection

qw

Type:FLOAT64

Angle component of the quaternion.

qx

Type:FLOAT64

Defines the orientation of the turning axis wrt. the X axis of the world (or the frame specified in frame_id).

qy

Type:FLOAT64

Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in frame_id).

qz

Type:FLOAT64

Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in frame_id).

frame_id

Type:ASCII-STRING

Identifier for the coordinate frame of the rotation.

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message Rotation {

    /**
     * Angle component of the quaternion.
     */
    required double qw = 4;

    /**
     * Defines the orientation of the turning axis wrt. the X axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qx = 5;

    /**
     * Defines the orientation of the turning axis wrt. the Y axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qy = 6;

    /**
     * Defines the orientation of the turning axis wrt. the Y axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qz = 7;

    /**
     * Identifier for the coordinate frame of the rotation.
     */
    optional string frame_id = 8;

}

Message Translation

class rst.geometry.Translation

Cartesian 3-dimensional translatory displacement or position.

The displacement or position (position being translation from an origin) is expressed in world coordinates.

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

@create_collection

x

Type:FLOAT64

Unit: meter

Cartesian displacement along the x axis

y

Type:FLOAT64

Unit: meter

Cartesian displacement along the y axis

z

Type:FLOAT64

Unit: meter

Cartesian displacement along the z axis

frame_id

Type:ASCII-STRING

Identifier for the coordinate frame of the rotation.

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message Translation {

    /**
     * Cartesian displacement along the x axis
     */
    // @unit(meter)
    required double x = 1;

    /**
     * Cartesian displacement along the y axis
     */
    // @unit(meter)
    required double y = 2;

    /**
     * Cartesian displacement along the z axis
     */
    // @unit(meter)
    required double z = 3;

    /**
     * Identifier for the coordinate frame of the rotation.
     */
    optional string frame_id = 8;
}