Gaussian.cpp File Reference

#include "Gaussian.hpp"

Functions
base::Orientation	removeZRotation (const base::Orientation &orientation)
base::Pose2D	projectPose (const base::Pose &pose)

Function Documentation

projectPose()

base::Pose2D projectPose

(

const base::Pose &

pose

)

projects a given 3d pose into 2d on the z axis

removeZRotation()

base::Orientation removeZRotation

(

const base::Orientation &

orientation

)

returns an orientation wich removes the rotation around the z axis in such a way, that the 2d projection on the z axis of the resulting orientation will always have a zero angle.

note: this is not the same as removing the yaw rotation in of the euler angle decomposition.