Sophus::SE3fFormatter Class Reference

#include <formatters.hpp>

Inheritance diagram for Sophus::SE3fFormatter:

Public Member Functions
SE3fFormatter &	operator() (const Sophus::SE3f &s)
	Format a sophus transform with permanently stored precision/width. More...
SE3fFormatter &	operator() (const Sophus::SE3f &s, const int &w, const unsigned int &p)
	Format a matrix with temporarily specified precision/width. More...
unsigned int	precision ()
	Returns the current precision setting. More...
SE3fFormatter &	precision (const unsigned int &p)
	Sets the precision format parameter. More...
	SE3fFormatter (const int &w=-1, const unsigned int &p=2)
	Default constructor. More...
int	width ()
	Returns the current width setting. More...
SE3fFormatter &	width (const int &w)
	Sets the width format parameter. More...
virtual	~SE3fFormatter ()

Private Attributes
ecl::Format< float >	format
bool	ready_to_format
const Sophus::SE3f *	s_
bool	tmp_formatting
unsigned int	tmp_precision
int	tmp_width

Friends
template<typename OutputStream >
OutputStream &	operator<< (OutputStream &ostream, SE3fFormatter &formatter)
	Stream the formatter. More...

Detailed Description

Formats the se3 in easily readable translation/quaternion syntax.

If you are working with frames, what you usually want to read is the pose of the frame, i.e. the inverse of the transform.

e.g. if you have T_cam_rel_map, to get the pose of the cam frame relative to the map frame, pass T_cam_rel_map.inverse() to this formatter.

Definition at line 44 of file sophus/formatters.hpp.

Constructor & Destructor Documentation

SE3fFormatter()

Sophus::SE3fFormatter::SE3fFormatter ( const int &  w = -1, const unsigned int &  p = 2  )

inline

Default constructor.

Initialises the format tags for width, and precision.

Parameters

w	: width (default - no width constraints)
p	: the number of decimal places of precision (default - 4)

Definition at line 62 of file sophus/formatters.hpp.

~SE3fFormatter()

virtual Sophus::SE3fFormatter::~SE3fFormatter ( )

inlinevirtual

Definition at line 70 of file sophus/formatters.hpp.

Member Function Documentation

operator()() [1/2]

SE3fFormatter& Sophus::SE3fFormatter::operator() ( const Sophus::SE3f &  s )

inline

Format a sophus transform with permanently stored precision/width.

This function directly formats the specified input value with the stored settings.

cout << format(Sophus::SE3f()) << endl;

Parameters

matrix

: the matrix to be formatted (gets temporarily stored as a pointer).

Returns

FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 116 of file sophus/formatters.hpp.

operator()() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::operator() ( const Sophus::SE3f &  s, const int &  w, const unsigned int &  p  )

inline

Format a matrix with temporarily specified precision/width.

This function directly formats the specified input value and temporary settings.

Sophus::SE3f s;
cout << format(s,3,-1) << endl; // precision of 3 and no width constraint

Parameters

matrix	: the matrix to be formatted (gets temporarily stored as a pointer).
w	: the width to use for inserted floats (-1 is no width constraint).
p	: the number of decimal places of precision.

Returns

FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 137 of file sophus/formatters.hpp.

precision() [1/2]

unsigned int Sophus::SE3fFormatter::precision ( )

inline

Returns the current precision setting.

Returns

unsigned int : the precision value.

Definition at line 97 of file sophus/formatters.hpp.

precision() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::precision ( const unsigned int &  p )

inline

Sets the precision format parameter.

Parameters

p	: the number of decimal places of precision.

Returns

SE3fFormatter& : this formatter readied for use with a stream.

Definition at line 77 of file sophus/formatters.hpp.

width() [1/2]

int Sophus::SE3fFormatter::width ( )

inline

Returns the current width setting.

Returns

int : the witdh value (-1 for no width constraint).

Definition at line 103 of file sophus/formatters.hpp.

width() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::width ( const int &  w )

inline

Sets the width format parameter.

Sets the width format parameter.

Parameters

w	: the width to use for inserted floats (-1 is no width constraint).

Returns

FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 89 of file sophus/formatters.hpp.

Friends And Related Function Documentation

operator<<

template<typename OutputStream >

OutputStream& operator<< ( OutputStream &  ostream, SE3fFormatter &  formatter  )

friend

Stream the formatter.

Insertion operator for sending the formatter to an output stream.

Parameters

ostream	: the output stream.
formatter	: the formatter to be inserted.

Template Parameters

OutputStream	: the type of the output stream to be inserted into.
Derived	: matrix type.

Returns

OutputStream : continue streaming with the updated output stream.

Exceptions

StandardException

: throws if the formatter has un-specified _matrix [debug mode only]

Definition at line 163 of file sophus/formatters.hpp.

Member Data Documentation

format

ecl::Format<float> Sophus::SE3fFormatter::format

private

Definition at line 162 of file sophus/formatters.hpp.

ready_to_format

bool Sophus::SE3fFormatter::ready_to_format

private

Definition at line 166 of file sophus/formatters.hpp.

s_

const Sophus::SE3f* Sophus::SE3fFormatter::s_

private

Definition at line 167 of file sophus/formatters.hpp.

tmp_formatting

bool Sophus::SE3fFormatter::tmp_formatting

private

Definition at line 165 of file sophus/formatters.hpp.

tmp_precision

unsigned int Sophus::SE3fFormatter::tmp_precision

private

Definition at line 164 of file sophus/formatters.hpp.

tmp_width

int Sophus::SE3fFormatter::tmp_width

private

Definition at line 163 of file sophus/formatters.hpp.

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

• sophus/formatters.hpp