public final class ARPose

Object
ARPose

An immutable rigid transform - a rotation followed by a translation - that positions something in AR world space. Poses use the AR coordinate convention shared by ARKit and ARCore: units are meters, the coordinate system is right-handed with Y pointing up and -Z pointing forward from the initial camera direction.

The rotation is stored as a unit quaternion (qx, qy, qz, qw) compatible with com.codename1.gpu.Quaternion; the translation is (tx, ty, tz). toMatrix(float[]) produces the equivalent column-major 4x4 matrix, ready for com.codename1.gpu.Matrix4 math.

Fields

public static final ARPose IDENTITY The identity pose: no rotation, located at the world origin.

Constructors

public ARPose(float tx, float ty, float tz, float qx, float qy, float qz, float qw) Creates a pose from a translation and a rotation quaternion.

Methods

`public static` `ARPose fromMatrix(float[] m16)`	Extracts a pose from a column-major 4x4 transform matrix whose upper left 3x3 is a pure rotation (no scale or shear).
`public float getTx()`	The X component of the translation in meters.
`public float getTy()`	The Y component of the translation in meters.
`public float getTz()`	The Z component of the translation in meters.
`public float getQx()`	The X component of the rotation quaternion.
`public float getQy()`	The Y component of the rotation quaternion.
`public float getQz()`	The Z component of the rotation quaternion.
`public float getQw()`	The W component of the rotation quaternion.
`public void toMatrix(float[] out16)`	Writes this pose as a column-major 4x4 transform matrix into `out16`, compatible with `com.codename1.gpu.Matrix4`.
`public float[] toMatrix()`	Returns this pose as a newly allocated column-major 4x4 transform matrix.
`public` `ARPose transform(ARPose local)`	Composes this pose with a pose expressed in this pose’s local frame, returning `this * local`.
`public void transformPoint(float[] xyzInOut)`	Transforms the point stored in `xyzInOut` (3 floats) from this pose’s local frame to the frame this pose is expressed in, writing the result back in place.
`public` `String toString()`	Returns a string representation of the object.

Inherited methods

From Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait, clone

Field details

IDENTITY

public static final ARPose IDENTITY

The identity pose: no rotation, located at the world origin.

Constructor details

ARPose

public ARPose(float tx, float ty, float tz, float qx, float qy, float qz, float qw)

Creates a pose from a translation and a rotation quaternion. The quaternion is normalized defensively; a zero quaternion becomes the identity rotation.

Parameters

tx float: , ty, tz: the translation in meters
ty float: Not documented.
tz float: Not documented.
qx float: , qy, qz, qw: the rotation quaternion
qy float: Not documented.
qz float: Not documented.
qw float: Not documented.

Method details

fromMatrix

public static ARPose fromMatrix(float[] m16)

Extracts a pose from a column-major 4x4 transform matrix whose upper left 3x3 is a pure rotation (no scale or shear).

Parameters

m16 float[]: the column-major matrix, 16 floats

Returns

the equivalent pose

getTx

public float getTx()

The X component of the translation in meters.

getTy

public float getTy()

The Y component of the translation in meters.

getTz

public float getTz()

The Z component of the translation in meters.

getQx

public float getQx()

The X component of the rotation quaternion.

getQy

public float getQy()

The Y component of the rotation quaternion.

getQz

public float getQz()

The Z component of the rotation quaternion.

getQw

public float getQw()

The W component of the rotation quaternion.

toMatrix

public void toMatrix(float[] out16)

Writes this pose as a column-major 4x4 transform matrix into out16, compatible with com.codename1.gpu.Matrix4.

Parameters

out16 float[]: the destination array, 16 floats

toMatrix

public float[] toMatrix()

Returns this pose as a newly allocated column-major 4x4 transform matrix.

transform

public ARPose transform(ARPose local)

Composes this pose with a pose expressed in this pose’s local frame, returning this * local. Use it to convert an offset relative to an anchor into world space.

Parameters

local ARPose: the pose in this pose’s local coordinate frame

Returns

the composed pose in the frame this pose is expressed in

transformPoint

public void transformPoint(float[] xyzInOut)

Transforms the point stored in xyzInOut (3 floats) from this pose’s local frame to the frame this pose is expressed in, writing the result back in place.

Parameters

xyzInOut float[]: the point to transform, modified in place

toString

public String toString()

Returns a string representation of the object. In general, the toString method returns a string that “textually represents” this object. The result should be a concise but informative representation that is easy for a person to read. It is recommended that all subclasses override this method. The toString method for class Object returns a string consisting of the name of the class of which the object is an instance, the at-sign character `@’, and the unsigned hexadecimal representation of the hash code of the object. In other words, this method returns a string equal to the value of: getClass().getName() + ‘@’ + Integer.toHexString(hashCode())