Pose Structure

Pose Structure

A pose defines the position and orientation of a shape in world space (or the parent coordinate space).

Namespace: DigitalRune.Geometry
Assembly: DigitalRune.Geometry (in DigitalRune.Geometry.dll) Version: 1.18.0.0 (1.18.2.14427)

Syntax

C++

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[SerializableAttribute]
[DataContractAttribute]
public struct Pose : IEquatable<Pose>

<SerializableAttribute>
<DataContractAttribute>
Public Structure Pose
	Implements IEquatable(Of Pose)

[SerializableAttribute]
[DataContractAttribute]
public value class Pose : IEquatable<Pose>

[<SealedAttribute>]
[<SerializableAttribute>]
[<DataContractAttribute>]
type Pose =  
    struct
        interface IEquatable<Pose>
    end

The Pose type exposes the following members.

Constructors

	Name	Description
	Pose(Matrix33F)	Initializes a new instance of the Pose class from orientation.
	Pose(QuaternionF)	Initializes a new instance of the Pose class from orientation.
	Pose(Vector3F)	Initializes a new instance of the Pose class from position.
	Pose(Vector3F, Matrix33F)	Initializes a new instance of the Pose class from position and orientation.
	Pose(Vector3F, QuaternionF)	Initializes a new instance of the Pose class from position and orientation.

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Methods

	Name	Description
	AreNumericallyEqual(Pose, Pose)	Determines whether two poses are equal (regarding the tolerance EpsilonF).
	AreNumericallyEqual(Pose, Pose, Single)	Determines whether two poses are equal (regarding a specific tolerance).
	Equals(Object)	Indicates whether this instance and a specified object are equal. (Overrides ValueTypeEquals(Object).)
	Equals(Pose)	Indicates whether the current object is equal to another object of the same type.
	FromMatrix(Matrix)	Creates a Pose from a Matrix (XNA Framework) that contains a translation and a rotation. (Only available in the XNA-compatible build.)
	FromMatrix(Matrix44F)	Creates a Pose from a matrix that contains a translation and a rotation.
	GetHashCode	Returns the hash code for this instance. (Overrides ValueTypeGetHashCode.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	Interpolate	Interpolates two poses.
	Invert	Inverts the pose.
	IsValid	Determines whether the specified matrix is a valid pose matrix.
	Multiply(Pose, Pose)	Multiplies two poses.
	Multiply(Pose, Vector4F)	Multiplies the pose with a vector.
	ToLocalDirection	Converts a direction vector from world space (or the parent space for nested coordinate spaces) to local space.
	ToLocalPosition	Converts a direction vector from world space (or the parent space for nested coordinate spaces) to local space.
	ToMatrix44F	Converts this pose to a 4x4 transformation matrix.
	ToPoseD	Converts this single-precision pose to a double-precision pose.
	ToString	Returns the string representation of this pose. (Overrides ValueTypeToString.)
	ToString(IFormatProvider)	Returns the string representation of this pose using the specified culture-specific format information.
	ToWorldDirection	Converts a direction vector from local space to world space (or the parent space for nested coordinate spaces).
	ToWorldPosition	Converts a position vector from local space to world space (or the parent space for nested coordinate spaces).
	ToXna	Converts a pose to a 4x4 transformation matrix (XNA Framework). (Only available in the XNA-compatible build.)

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Operators

	Name	Description
	Equality	Compares two Poses to determine whether they are the same.
	(Pose to PoseD)	Converts a single-precision pose to a double-precision pose.
	(Pose to Matrix44F)	Converts a pose to a 4x4 transformation matrix.
	(Pose to Matrix)	Converts a pose to a 4x4 transformation matrix (XNA Framework). (Only available in the XNA-compatible build.)
	Inequality	Compares two Poses to determine whether they are different.
	Multiply(Pose, Pose)	Multiplies two poses.
	Multiply(Pose, Vector4F)	Multiplies the pose with a vector.

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Fields

	Name	Description
	Identity	A pose with no translation and no rotation.
	Orientation	The orientation.
	Position	The position.

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Properties

	Name	Description
	HasRotation	Gets a value indicating whether the orientation is not the default rotation.
	HasTranslation	Gets a value indicating whether the position is not 0.
	Inverse	Gets the inverse of this pose.

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Remarks

This type represents an affine transformation consisting only of a rotation followed by a translation - no scaling. This transformation transforms coordinates from local space to world space (or a parent space). Every IGeometricObject has a Pose which defines position and orientation of the figure in the parent's space which is usually the world space.

For hierarchical objects, like CompositeShapes, a pose defines the relationship of a local coordinates system to a parent coordinate system. For example: The children of a CompositeShape are of type IGeometricObject. So each child of a CompositeShape has a Pose which defines the position and orientation of the child in the local space of the CompositeShape. The local space of the CompositeShape is the parent space of the child.

Important: When creating a new Pose do not use Pose p = new Pose(); instead use Pose p = Pose.Identity. The constructor new Pose() initializes the orientation quaternion elements with 0 and thus is not a valid transformation.

Notes: The name "pose" comes from the definition: "to pose = to put or set in place".

Reference

DigitalRune.Geometry Namespace