tfjava::Utils Class Reference

List of all members.

Static Public Member Functions
static Stamped< Matrix4d >	getStampedIdentityMatrix4d ()
static Stamped< Point3d >	getStampedPoint3d ()
static double	getTimeNowSecs ()
static Stamped< Point3d >	pointArrayToStampedPoint3d (float[] p, String frameID, double secs)
static Stamped< Matrix4d >	poseArrayToStampedMatrix4d (float[] m, String frameID, double secs)
static StampedTransform	poseArrayToTF (float[] p, String frameId, String childFrameId)
static Time	secondsToRosTime (double secs)
static double[]	stampedMatrix4dToPoseArray (Stamped< Matrix4d > stamped)
static double[]	stampedPoint3dToPointArray (Stamped< Point3d > stamped)
static double[]	tfToPoseArray (StampedTransform tf)

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Detailed Description

Utilities for using tfjava, especially for calling the methods from Prolog (see tf_prolog package)

Author:

Sjoerd van den Dries, Moritz Tenorth

Version:

August 2, 2011

Definition at line 46 of file Utils.java.

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Member Function Documentation

static Stamped<Matrix4d> tfjava::Utils::getStampedIdentityMatrix4d

(

)

[inline, static]

Create an identity matrix Stamped<Matrix4d>

Returns:

Identity matrix

Definition at line 178 of file Utils.java.

static Stamped<Point3d> tfjava::Utils::getStampedPoint3d

(

)

[inline, static]

Create an empty Stamped<Point3d> object (position 0,0,0)

Returns:

empty Stamped<Point3d>

Definition at line 192 of file Utils.java.

static double tfjava::Utils::getTimeNowSecs

(

)

[inline, static]

Get the current time in seconds

Returns:

Time stamp in seconds

Definition at line 63 of file Utils.java.

static Stamped<Point3d> tfjava::Utils::pointArrayToStampedPoint3d	(	float[]	p,
		String	frameID,
		double	secs
	)			[inline, static]

Convert a point array [x,y,z] to a Stamped<Point3d> object

Parameters:

	p	Point to be converted
	frameID	TF frame ID
	secs	Time stamp in seconds

Returns:

Stamped<Point3d> with the position information

Definition at line 121 of file Utils.java.

static Stamped<Matrix4d> tfjava::Utils::poseArrayToStampedMatrix4d	(	float[]	m,
		String	frameID,
		double	secs
	)			[inline, static]

Convert a pose array to a Stamped<Matrix4d> object

Parameters:

	m	Array containing the pose matrix (row-based)
	frameID	TF frame ID
	secs	Time stamp in seconds

Returns:

Stamped<Matrix4d> with the pose information

Definition at line 158 of file Utils.java.

static StampedTransform tfjava::Utils::poseArrayToTF	(	float[]	p,
		String	frameId,
		String	childFrameId
	)			[inline, static]

Convert an array of pose elements into a StampedTransform

Parameters:

	p	Row-based array with the matrix elements
	frameId	TF frame ID
	childFrameId	TF frame ID of the child node

Returns:

StampedTransform describing the transformation

Definition at line 90 of file Utils.java.

static Time tfjava::Utils::secondsToRosTime

(

double

secs

)

[inline, static]

Convert time stamp in seconds into ros.communication.Time

Parameters:

secs

Time stamp in seconds

Returns:

ros.communication.Time object

Definition at line 55 of file Utils.java.

static double [] tfjava::Utils::stampedMatrix4dToPoseArray

(

Stamped< Matrix4d >

stamped

)

[inline, static]

Convert a Stamped<Matrix4d> object to a pose array

Parameters:

stamped

Stamped<Matrix4d> with the pose information

Returns:

Row-based array with the matrix elements

Definition at line 142 of file Utils.java.

static double [] tfjava::Utils::stampedPoint3dToPointArray

(

Stamped< Point3d >

stamped

)

[inline, static]

Convert a Stamped<Point3d> object to a point array [x,y,z]

Parameters:

stamped

Stamped<Point3d> with the position information

Returns:

Point array [x,y,z]

Definition at line 109 of file Utils.java.

static double [] tfjava::Utils::tfToPoseArray

(

StampedTransform

tf

)

[inline, static]

Convert a StampedTransform into an array of pose elements

Parameters:

tf

StampedTransform describing the transformation

Returns:

Row-based array with the matrix elements

Definition at line 74 of file Utils.java.

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

• Utils.java