raisin::CoordinateFrame::Pose

struct · #include <rayrai/CoordinateFrame.hpp>

Pose definition for a single coordinate frame.

position is in world units (typically metres). quaternion is a glm unit quaternion using glm's (w, x, y, z) component order.

Public attributes

position

glm::vec3 position

Frame origin in world coordinates.

quaternion

glm::quat quaternion

Frame-to-world rotation (identity by default).