xrt_pose Struct Reference

A pose composed of a position and orientation. More...

#include <xrt/xrt_defines.h>

Collaboration diagram for xrt_pose:

Data Fields
struct xrt_quat	orientation
struct xrt_vec3	position

Related Symbols
(Note that these are not member symbols.)
void	math_pose_identity (struct xrt_pose *pose)
	Somewhat laboriously make an xrt_pose identity.
bool	math_pose_validate (const struct xrt_pose *pose)
	Check if this pose can be used in transformation operations.
void	math_pose_invert (const struct xrt_pose *pose, struct xrt_pose *outPose)
	Invert pose.
void	math_pose_from_isometry (const struct xrt_matrix_4x4 *transform, struct xrt_pose *result)
	Converts a (col-major) isometry into a pose.
void	math_pose_interpolate (const struct xrt_pose *a, const struct xrt_pose *b, float t, struct xrt_pose *outPose)
	Interpolated pose between poses a and b by lerping position and slerping orientation by t.
void	math_pose_transform (const struct xrt_pose *transform, const struct xrt_pose *pose, struct xrt_pose *outPose)
	Apply a rigid-body transformation to a pose.
void	math_pose_transform_point (const struct xrt_pose *transform, const struct xrt_vec3 *point, struct xrt_vec3 *out_point)
	Apply a rigid-body transformation to a point.
#define	XRT_POSE_IDENTITY   {XRT_QUAT_IDENTITY, XRT_VEC3_ZERO}
	Identity value for xrt_pose.

Detailed Description

A pose composed of a position and orientation.

See also

xrt_qaut

xrt_vec3

Friends And Related Symbol Documentation

XRT_POSE_IDENTITY

#define XRT_POSE_IDENTITY   {XRT_QUAT_IDENTITY, XRT_VEC3_ZERO}

related

Identity value for xrt_pose.

Referenced by get_offset_or_ident_read_locked(), get_pose(), m_space_relation_ident(), psvr2_hmd_create(), r_create_devices(), sample_hmd_create(), sdl_device_init(), sdl_system_devices_init(), survive_controller_get_hand_tracking(), u_builder_create_space_overseer_legacy(), u_device_get_view_pose(), vive_poses_get_pose_offset(), and wmr_hmd_create().

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The documentation for this struct was generated from the following files:

• xrt/xrt_defines.h
• auxiliary/math/m_api.h