{"action":"closed","issue":{"url":"https://api.github.com/repos/ros-industrial-consortium/descartes/issues/134","labels_url":"https://api.github.com/repos/ros-industrial-consortium/descartes/issues/134/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial-consortium/descartes/issues/134/comments","events_url":"https://api.github.com/repos/ros-industrial-consortium/descartes/issues/134/events","html_url":"https://github.com/ros-industrial-consortium/descartes/issues/134","id":104846625,"number":134,"title":"How to specify trajectory points with 6D pose?","user":{"login":"Liangconghui","id":9650291,"avatar_url":"https://avatars.githubusercontent.com/u/9650291?v=3","gravatar_id":"","url":"https://api.github.com/users/Liangconghui","html_url":"https://github.com/Liangconghui","followers_url":"https://api.github.com/users/Liangconghui/followers","following_url":"https://api.github.com/users/Liangconghui/following{/other_user}","gists_url":"https://api.github.com/users/Liangconghui/gists{/gist_id}","starred_url":"https://api.github.com/users/Liangconghui/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Liangconghui/subscriptions","organizations_url":"https://api.github.com/users/Liangconghui/orgs","repos_url":"https://api.github.com/users/Liangconghui/repos","events_url":"https://api.github.com/users/Liangconghui/events{/privacy}","received_events_url":"https://api.github.com/users/Liangconghui/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-09-04T08:04:27Z","updated_at":"2015-11-05T07:06:20Z","closed_at":"2015-11-05T07:06:20Z","body":"Hi\r\nI am a new user of the ROS-I Descartes package.\r\nI want to specify several points with 6D pose (Position+Orientation).\r\nIn the tutorial1.cpp, I  just found out how to specify 3D position by using Eigen:Translation3d (x,y,z) function as shown below.\r\nSo my question is: are there any other function in Eigen to specify a 6D pose Cartesian space point?\r\nThanks!\r\n\r\nConghui \r\n\r\n\r\n// 1. Define sequence of points\r\n  TrajectoryVec points;\r\n  for (unsigned int i = 0; i < 10; ++i)\r\n  {\r\n    Eigen::Affine3d pose;\r\n    pose = Eigen::Translation3d(0, 0, 0.1+0.05 * i);\r\n    //descartes_core::TrajectoryPtPtr pt = makeTolerancedCartesianPoint(pose);\r\n    descartes_core::TrajectoryPtPtr pt = makeCartesianPoint(pose);\r\n    points.push_back(pt);\r\n  }\r\n"}}