.. _package-rst-geometry:
======================
Package rst.geometry
======================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/graphs.css";
node [fontsize=11,fontname="Arial"]
edge [fontsize=11,fontname="Arial"]
"1" [label=< | Pose |
|
| Translation | translation |
| Rotation | rotation |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | Rotation |
|
| FLOAT64 | qw |
| FLOAT64 | qx |
| FLOAT64 | qy |
| FLOAT64 | qz |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"1":rotation -> "3" [];
"1":translation -> "2" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`Pose `
* :ref:`Rotation `
* :ref:`Translation `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-geometry-pose:
Message Pose
------------
.. container:: message-rst-geometry-pose-multi
.. container:: message-rst-geometry-pose-documentation
.. py:class:: rst.geometry.Pose
Represents the pose (translation and rotation) of something in a
coordinate system.
.. codeauthor:: Arne Nordmann
@create_collection
.. py:attribute:: translation
:type: :py:class:`rst.geometry.Translation`
The translation of the object with respect to the origin of the
coordinate system.
.. py:attribute:: rotation
:type: :py:class:`rst.geometry.Rotation`
The rotation of the object at the position described by
:py:attr:`translation ` with respect to the coordinate system.
.. container:: message-rst-geometry-pose-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Pose.proto
:lines: 17-31
:language: protobuf
:emphasize-lines: 7-7,13-13
.. _message-rst-geometry-rotation:
Message Rotation
----------------
.. container:: message-rst-geometry-rotation-multi
.. container:: message-rst-geometry-rotation-documentation
.. py: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).
.. codeauthor:: Arne Nordmann
@create_collection
.. py:attribute:: qw
:type: :py:class:`FLOAT64`
Angle component of the quaternion.
.. py:attribute:: qx
:type: :py:class:`FLOAT64`
Defines the orientation of the turning axis wrt. the X axis of
the world (or the frame specified in :py:attr:`frame_id `).
.. py:attribute:: qy
:type: :py:class:`FLOAT64`
Defines the orientation of the turning axis wrt. the Y axis of
the world (or the frame specified in :py:attr:`frame_id `).
.. py:attribute:: qz
:type: :py:class:`FLOAT64`
Defines the orientation of the turning axis wrt. the Y axis of
the world (or the frame specified in :py:attr:`frame_id `).
.. py:attribute:: frame_id
:type: :py:class:`ASCII-STRING`
Identifier for the coordinate frame of the rotation.
.. container:: message-rst-geometry-rotation-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Rotation.proto
:lines: 18-48
:language: protobuf
:emphasize-lines: 6-6,12-12,18-18,24-24,29-29
.. _message-rst-geometry-translation:
Message Translation
-------------------
.. container:: message-rst-geometry-translation-multi
.. container:: message-rst-geometry-translation-documentation
.. py: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.
.. codeauthor:: Arne Nordmann
@create_collection
.. py:attribute:: x
:type: :py:class:`FLOAT64`
**Unit**: meter
Cartesian displacement along the x axis
.. py:attribute:: y
:type: :py:class:`FLOAT64`
**Unit**: meter
Cartesian displacement along the y axis
.. py:attribute:: z
:type: :py:class:`FLOAT64`
**Unit**: meter
Cartesian displacement along the z axis
.. py:attribute:: frame_id
:type: :py:class:`ASCII-STRING`
Identifier for the coordinate frame of the rotation.
.. container:: message-rst-geometry-translation-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Translation.proto
:lines: 16-40
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19,24-24