Geometry Class Reference

Geometry helpers. More...

#include <Geometry.h>

List of all members.

Static Public Member Functions
static tf::Stamped< tf::Pose >	approach (tf::Stamped< tf::Pose > toolPose, double dist=0.1)
static Geometry *	getInstance ()
static tf::Stamped< tf::Pose >	getPose (const char target_frame[], const char lookup_frame[])
static tf::Stamped< tf::Pose >	getPoseIn (const char target_frame[], tf::Stamped< tf::Pose > src)
static tf::Stamped< tf::Pose >	getRel (const tf::Stamped< tf::Pose > &root_frame, const tf::Stamped< tf::Pose > &relative_pose)
static tf::Stamped< tf::Pose >	getRelativeTransform (const char source_frameid[], const char target_frameid[])
static tf::Stamped< tf::Pose >	getRelInBase (const tf::Stamped< tf::Pose > &root_frame, const btVector3 &dist)
static tf::Stamped< tf::Pose >	getTransform (const char baseframe[], const char toolframe[])
static void	init ()
static tf::Stamped< tf::Pose >	make_pose (const btTransform &trans, const char target_frame[])
static tf::Stamped< tf::Pose >	make_pose (double x, double y, double z, double ox, double oy, double oz, double ow, const char target_frame[])
static void	printPose (const char title[], tf::Stamped< tf::Pose > pose)
static void	printPose (const tf::Stamped< tf::Pose > &toolTargetPose)
static tf::Stamped< tf::Pose >	rotateAroundBaseAxis (tf::Stamped< tf::Pose > toolPose, double r_x, double r_y, double r_z)
static tf::Stamped< tf::Pose >	rotateAroundPose (tf::Stamped< tf::Pose > toolPose, tf::Stamped< tf::Pose > pivot, btQuaternion qa)
static tf::Stamped< tf::Pose >	rotateAroundPose (tf::Stamped< tf::Pose > toolPose, tf::Stamped< tf::Pose > pivot, double r_x, double r_y, double r_z)
static tf::Stamped< tf::Pose >	rotateAroundToolframeAxis (tf::Stamped< tf::Pose > toolPose, double r_x, double r_y, double r_z)
static tf::Stamped< tf::Pose >	scaleStampedPose (const tf::Stamped< tf::Pose > &in, double scale)
static tf::Stamped< tf::Pose >	scaleStampedTransform (const tf::Stamped< tf::Pose > &in, double scale)
Private Member Functions
	Geometry ()
	~Geometry ()
Static Private Attributes
static Geometry *	instance
static tf::TransformListener *	listener_ = 0

---

Detailed Description

Geometry helpers.

Definition at line 39 of file Geometry.h.

---

Constructor & Destructor Documentation

Geometry::Geometry

(

)

[private]

Geometry::~Geometry

(

)

[private]

---

Member Function Documentation

tf::Stamped< tf::Pose > Geometry::approach	(	tf::Stamped< tf::Pose >	toolPose,
		double	dist = 0.1
	)			[static]

Definition at line 243 of file Geometry.cpp.

static Geometry* Geometry::getInstance

(

)

[inline, static]

Definition at line 53 of file Geometry.h.

tf::Stamped< tf::Pose > Geometry::getPose	(	const char	target_frame[],
		const char	lookup_frame[]
	)			[static]

Definition at line 77 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::getPoseIn	(	const char	target_frame[],
		tf::Stamped< tf::Pose >	src
	)			[static]

Definition at line 29 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::getRel	(	const tf::Stamped< tf::Pose > &	root_frame,
		const tf::Stamped< tf::Pose > &	relative_pose
	)			[static]

Definition at line 279 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::getRelativeTransform	(	const char	source_frameid[],
		const char	target_frameid[]
	)			[static]

Definition at line 115 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::getRelInBase	(	const tf::Stamped< tf::Pose > &	root_frame,
		const btVector3 &	dist
	)			[static]

Definition at line 298 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::getTransform	(	const char	baseframe[],
		const char	toolframe[]
	)			[static]

Definition at line 142 of file Geometry.cpp.

void Geometry::init

(

)

[static]

Definition at line 6 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::make_pose	(	const btTransform &	trans,
		const char	target_frame[]
	)			[static]

Definition at line 268 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::make_pose	(	double	x,
		double	y,
		double	z,
		double	ox,
		double	oy,
		double	oz,
		double	ow,
		const char	target_frame[]
	)			[static]

Definition at line 256 of file Geometry.cpp.

void Geometry::printPose	(	const char	title[],
		tf::Stamped< tf::Pose >	pose
	)			[static]

Definition at line 308 of file Geometry.cpp.

void Geometry::printPose

(

const tf::Stamped< tf::Pose > &

toolTargetPose

)

[static]

Definition at line 68 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::rotateAroundBaseAxis	(	tf::Stamped< tf::Pose >	toolPose,
		double	r_x,
		double	r_y,
		double	r_z
	)			[static]

Definition at line 172 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::rotateAroundPose	(	tf::Stamped< tf::Pose >	toolPose,
		tf::Stamped< tf::Pose >	pivot,
		btQuaternion	qa
	)			[static]

Definition at line 221 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::rotateAroundPose	(	tf::Stamped< tf::Pose >	toolPose,
		tf::Stamped< tf::Pose >	pivot,
		double	r_x,
		double	r_y,
		double	r_z
	)			[static]

Definition at line 196 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::rotateAroundToolframeAxis	(	tf::Stamped< tf::Pose >	toolPose,
		double	r_x,
		double	r_y,
		double	r_z
	)			[static]

Definition at line 185 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::scaleStampedPose	(	const tf::Stamped< tf::Pose > &	in,
		double	scale
	)			[static]

Definition at line 12 of file Geometry.cpp.

tf::Stamped< tf::Pose > Geometry::scaleStampedTransform	(	const tf::Stamped< tf::Pose > &	in,
		double	scale
	)			[static]

Definition at line 20 of file Geometry.cpp.

---

Member Data Documentation

Geometry* Geometry::instance [static, private]

Definition at line 45 of file Geometry.h.

tf::TransformListener * Geometry::listener_ = 0 [static, private]

Definition at line 43 of file Geometry.h.

---

The documentation for this class was generated from the following files:

• Geometry.h
• Geometry.cpp