#include <CoordinateFrame.h>

Inheritance diagram for CoordinateFrame:

Public Member Functions
CoordinateFrame *	cInFrame (CoordinateFrame *base)
CoordinateFrame *	cInWorld (CoordinateFrame *base)
CoordinateFrame *	cMakeFrame (CoordinateFrame *base)
CoordinateFrame *	cMakeFrame (CvPoint3D32f p0, CvPoint3D32f p1, CvPoint3D32f *p2)
	CoordinateFrame (CvPoint3D32f position, CvPoint3D32f rotation)
	CoordinateFrame (float posX, float posY, float posZ, float rotX, float rotY, float rotZ)
	CoordinateFrame (CvPoint3D32f position, float rotX, float rotY, float rotZ)
	CoordinateFrame (float posX, float posY, float posZ, CvPoint3D32f rotation)
	CoordinateFrame (CvPoint3D32f p0, CvPoint3D32f p1, CvPoint3D32f *p2)
	CoordinateFrame (cv::Point3f p1, cv::Point3f p2, cv::Point3f p3)
	CoordinateFrame (CvMat *trafoMat)
	CoordinateFrame ()
CvMat *	createTransformationMatrix ()
	Creates a Transformation Matrrix from the CoordinateFrame.
CvMat *	createTransformationMatrix3x3 ()
	Creates a Transformation Matrix from the CoordinateFrame just for rotations.
CvPoint3D32f *	getPos ()
	returns the Position of CoordinateFrame as CvPoint3D32f
CvPoint3D32f *	getRot ()
	returns the Rotation of CoordinateFrame as CvPoint3D32f
void	getThreePoints (CvPoint3D32f p0, CvPoint3D32f p1, CvPoint3D32f *p2)
void	getXAxis (CvPoint3D32f *normal)
void	getYAxis (CvPoint3D32f *normal)
void	getZAxis (CvPoint3D32f *normal)
void	setPos (CvPoint3D32f *pos_)
	set the position of the CoordinateFrame
void	setRot (CvPoint3D32f *rot_)
	set the rotation of the CoordinateFrame
void	toggleZDirection ()
	~CoordinateFrame ()
Private Attributes
CvPoint3D32f	pos
	storage of the position in [m]
CvPoint3D32f	rot
	storage of the angles in [rad]

Detailed Description

Utility class for working with coordinate frames.

Note:: all position units are in [mm]; all angle units in [rad]

Definition at line 46 of file CoordinateFrame.h.

Constructor & Destructor Documentation

CoordinateFrame::CoordinateFrame	(	CvPoint3D32f	position,
		CvPoint3D32f	rotation
	)

Definition at line 42 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame	(	float	posX,
		float	posY,
		float	posZ,
		float	rotX,
		float	rotY,
		float	rotZ
	)

Definition at line 48 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame	(	CvPoint3D32f	position,
		float	rotX,
		float	rotY,
		float	rotZ
	)

Definition at line 54 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame	(	float	posX,
		float	posY,
		float	posZ,
		CvPoint3D32f	rotation
	)

Definition at line 60 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame	(	CvPoint3D32f *	p0,
		CvPoint3D32f *	p1,
		CvPoint3D32f *	p2
	)

Definition at line 66 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame	(	cv::Point3f	p1,
		cv::Point3f	p2,
		cv::Point3f	p3
	)

Definition at line 86 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame ( CvMat * trafoMat )

Definition at line 118 of file CoordinateFrame.cpp.

CoordinateFrame::CoordinateFrame ( )

Definition at line 154 of file CoordinateFrame.cpp.

CoordinateFrame::~CoordinateFrame ( )

Definition at line 161 of file CoordinateFrame.cpp.

Member Function Documentation

CoordinateFrame * CoordinateFrame::cInFrame ( CoordinateFrame * base )

Transforms the CoordinateFrame into an arbitrary base. The result will be saved in a additional created CoordinateFrame instance. The value of the calling-instance will be not modified.

Definition at line 209 of file CoordinateFrame.cpp.

CoordinateFrame * CoordinateFrame::cInWorld ( CoordinateFrame * base )

Transforms the CoordinateFrame from an arbitrary base to world. The result will be saved in a additional created CoordinateFrame instance. The value of the calling-instance will be not modified.

Definition at line 257 of file CoordinateFrame.cpp.

CoordinateFrame * CoordinateFrame::cMakeFrame ( CoordinateFrame * base )

Definition at line 302 of file CoordinateFrame.cpp.

CoordinateFrame * CoordinateFrame::cMakeFrame	(	CvPoint3D32f *	p0,
		CvPoint3D32f *	p1,
		CvPoint3D32f *	p2
	)

Definition at line 311 of file CoordinateFrame.cpp.

CvMat * CoordinateFrame::createTransformationMatrix ( )

Creates a Transformation Matrrix from the CoordinateFrame.

Definition at line 166 of file CoordinateFrame.cpp.

CvMat * CoordinateFrame::createTransformationMatrix3x3 ( )

Creates a Transformation Matrix from the CoordinateFrame just for rotations.

Definition at line 171 of file CoordinateFrame.cpp.

CvPoint3D32f* CoordinateFrame::getPos ( ) [inline]

returns the Position of CoordinateFrame as CvPoint3D32f

Definition at line 105 of file CoordinateFrame.h.

CvPoint3D32f* CoordinateFrame::getRot ( ) [inline]

returns the Rotation of CoordinateFrame as CvPoint3D32f

Definition at line 108 of file CoordinateFrame.h.

void CoordinateFrame::getThreePoints	(	CvPoint3D32f *	p0,
		CvPoint3D32f *	p1,
		CvPoint3D32f *	p2
	)

Stores the base information in three points initialized by the caller. p0 is the vector from origin to the base, p1-p0 is the x-axis, p2-p0 is the y-axis

Definition at line 191 of file CoordinateFrame.cpp.

void CoordinateFrame::getXAxis ( CvPoint3D32f * normal )

Definition at line 367 of file CoordinateFrame.cpp.

void CoordinateFrame::getYAxis ( CvPoint3D32f * normal )

Definition at line 377 of file CoordinateFrame.cpp.

void CoordinateFrame::getZAxis ( CvPoint3D32f * normal )

Definition at line 387 of file CoordinateFrame.cpp.

void CoordinateFrame::setPos ( CvPoint3D32f * pos_ )

set the position of the CoordinateFrame

Definition at line 357 of file CoordinateFrame.cpp.

void CoordinateFrame::setRot ( CvPoint3D32f * rot_ )

set the rotation of the CoordinateFrame

Definition at line 362 of file CoordinateFrame.cpp.

void CoordinateFrame::toggleZDirection ( )

Definition at line 401 of file CoordinateFrame.cpp.

Member Data Documentation

CvPoint3D32f CoordinateFrame::pos [private]

storage of the position in [m]

Definition at line 127 of file CoordinateFrame.h.

CvPoint3D32f CoordinateFrame::rot [private]

storage of the angles in [rad]

Definition at line 129 of file CoordinateFrame.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation