Struct ILLIXR::data_format::pose::pose_base

ClassList > ILLIXR > data_format > pose > pose_base

Base struct for all pose types in ILLIXR .More...

• #include <pose_base.hpp>

Inherited by the following classes: ILLIXR::data_format::openxr_eye_view, ILLIXR::data_format::pose::head_pose_data, ILLIXR::data_format::quest_controller_pose, ILLIXR::data_format::stereo_render_view

Public Attributes

Type	Name
float	confidence Confidence in the pose estimate in [0, 1], where 1 is highest confidence.
Eigen::Quaternionf	orientation Rotation component of the pose as a unit quaternion.
Eigen::Vector3f	position Translation component of the pose (x, y, z)
bool	valid Whether this pose contains valid, usable data.

Public Functions

Type	Name
	pose_base () Default constructor. Produces an invalid, zero-translation, identity-rotation pose.
	pose_base (Eigen::Vector3f position_, Eigen::Quaternionf orientation_, float confidence_=0.f, bool valid_=true) Construct a pose from explicit components.
void	update (Eigen::Vector3f position_, Eigen::Quaternionf orientation_)

Detailed Description

Captures the common 6-DOF pose fields (position, orientation) together with the metadata that every derived pose needs: confidence, and validity. Derived structs should inherit from this type rather than duplicating these fields.

Public Attributes Documentation

variable confidence

Confidence in the pose estimate in [0, 1], where 1 is highest confidence.

float ILLIXR::data_format::pose::pose_base::confidence;

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variable orientation

Rotation component of the pose as a unit quaternion.

Eigen::Quaternionf ILLIXR::data_format::pose::pose_base::orientation;

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variable position

Translation component of the pose (x, y, z)

Eigen::Vector3f ILLIXR::data_format::pose::pose_base::position;

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variable valid

Whether this pose contains valid, usable data.

bool ILLIXR::data_format::pose::pose_base::valid;

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Public Functions Documentation

function pose_base [1/2]

Default constructor. Produces an invalid, zero-translation, identity-rotation pose.

inline ILLIXR::data_format::pose::pose_base::pose_base () 

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function pose_base [2/2]

Construct a pose from explicit components.

inline ILLIXR::data_format::pose::pose_base::pose_base (
    Eigen::Vector3f position_,
    Eigen::Quaternionf orientation_,
    float confidence_=0. f,
    bool valid_=true
) 

Parameters:

• position_ Translation component of the pose
• orientation_ Rotation component of the pose (must be unit quaternion)
• confidence_ Confidence value in [0, 1], defaults to 0
• valid_ Whether the pose is valid, defaults to true

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function update

inline void ILLIXR::data_format::pose::pose_base::update (
    Eigen::Vector3f position_,
    Eigen::Quaternionf orientation_
) 

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The documentation for this class was generated from the following file /home/friedel/devel/ILLIXR/illixr_release/ILLIXR/include/illixr/data_format/poses/pose_base.hpp