xv::Orientation Class Reference

Orientation only (3dof) of the pose. More...

#include <xv-types.h>

Public Member Functions
	Orientation (Matrix3d const &rotation, double hostTimestamp=std::numeric_limits< double >::infinity(), std::int64_t edgeTimestamp=(std::numeric_limits< std::int64_t >::min)())
	Construct an orientation (3dof) rotation and timestamps.
	Orientation (Vector4d const &quaternion, double hostTimestamp=std::numeric_limits< double >::infinity(), std::int64_t edgeTimestamp=(std::numeric_limits< std::int64_t >::min)())
	Construct an orientation (3dof) rotation and timestamps.
Vector4d const &	quaternion () const
	Get the quaternion of the rotation [qx,qy,qz,qw].
void	setQuaternion (Vector4d const &v)
	Set the quaternion of the rotation [qx,qy,qz,qw].
void	setQuaternion (double const *v)
	Set the quaternion of the rotation using pointer of 4D array [qx,qy,qz,qw].
Matrix3d const &	rotation () const
void	setRotation (Matrix3d const &v)
void	setRotation (double const *v)
	Set the quaternion of the rotation using pointer of 4D array.
Vector3d const &	angularVelocity () const
	An estimation of instantaneous angular velocity of the pose. More...
void	setAngularVelocity (Vector3d const &v)
	Set an estimation of instantaneous angular velocity of the pose. More...
void	setAngularVelocity (double const *v)
	Set an estimation of instantaneous angular velocity of the pose. More...
void	setAngularAcceleration (Vector3d const &v)
	Set an estimation of instantaneous angular acceleration of the pose. More...
void	setAngularAcceleration (double const *v)
	Set an estimation of instantaneous angular acceleration of the pose. More...
Orientation	prediction (double dt) const
	Prediction of the orientation based on angular velocity and acceleration. More...

Public Attributes
double	hostTimestamp = std::numeric_limits<double>::infinity()
	host timestamp of the plane (in second based on the std::chrono::steady_clock).
std::int64_t	edgeTimestampUs = (std::numeric_limits<std::int64_t>::min)()
	timestamp of the plane (in microsecond based on edge clock).

Detailed Description

Orientation only (3dof) of the pose.

Member Function Documentation

Vector3d const& xv::Orientation::angularVelocity

(

)

const

An estimation of instantaneous angular velocity of the pose.

Returns

[wx,wy,wz] angular velocity

Orientation xv::Orientation::prediction

(

double

dt

)

const

Prediction of the orientation based on angular velocity and acceleration.

Parameters

dt	amount of prediction (in s)

Returns

The predicted (2nd order extrapolation) of the orientation.

void xv::Orientation::setAngularAcceleration

(

Vector3d const &

v

)

Set an estimation of instantaneous angular acceleration of the pose.

Parameters

v	[ax,ay,az] angular acceleration (rad/s/s)

void xv::Orientation::setAngularAcceleration

(

double const *

v

)

Set an estimation of instantaneous angular acceleration of the pose.

Parameters

v	[ax,ay,az] angular acceleration (rad/s/s)

void xv::Orientation::setAngularVelocity

(

Vector3d const &

v

)

Set an estimation of instantaneous angular velocity of the pose.

Parameters

v	[wx,wy,wz] angular velocity

void xv::Orientation::setAngularVelocity

(

double const *

v

)

Set an estimation of instantaneous angular velocity of the pose.

Parameters

v	[wx,wy,wz] angular velocity

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The documentation for this class was generated from the following file:

• E:/build/xvsdk/include/xv-types.h