Struct trifinger_object_tracking::ObjectPoseΒΆ

struct ObjectPose

Estimated pose of a tracked object.

Public Functions

ObjectPose() = default
inline ObjectPose(const Eigen::Matrix4d &matrix, double confidence = 0.0)
inline Eigen::Quaterniond quaternion() const

Get the orientation as Eigen::Quaterniond.

inline Eigen::Affine3d affine() const

Get the pose as Eigen::Affine3d.

template<class Archive>
inline void serialize(Archive &archive)

For serialization with cereal.

inline std::string to_string()
ObjectPose() = default
inline ObjectPose(const Eigen::Matrix4d &matrix, double confidence = 0.0)
inline Eigen::Quaterniond quaternion() const

Get the orientation as Eigen::Quaterniond.

inline Eigen::Affine3d affine() const

Get the pose as Eigen::Affine3d.

template<class Archive>
inline void serialize(Archive &archive)

For serialization with cereal.

inline std::string to_string()

Public Members

Eigen::Vector3d position

Position (x, y, z)

Eigen::Vector4d orientation

Orientation quaternion (x, y, z, w)

double confidence = 0.0

Confidence of the accuracy of the given pose. Ranges from 0 to 1.