Package rst.geometry¶
Not documented
Messages¶
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.
-
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.
-
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.
-
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;
}