Class Transformation
Defined in File Transformation.hpp
Class Documentation
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class Transformation
A Transformation object that stores the transformation data needed to perform transformation between robot and RMF cartesian frames.
Public Functions
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Transformation(double rotation, double scale, Eigen::Vector2d translation)
Constructor
- Parameters:
rotation – [in] The rotation angle (radians) between the two cartesian frames.
scale – [in] The scaling factor between the cartesian frames.
translation – [in] The 2D translation from one coordinate to another.
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double rotation() const
Get the rotation of this Transformation.
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double scale() const
Get the scale of this Transformation.
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const Eigen::Vector2d &translation() const
Get the translation of this Transformation.
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Eigen::Vector3d apply(const Eigen::Vector3d &position) const
Apply this transformation to an (x, y, yaw) position.
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Eigen::Vector3d apply_inverse(const Eigen::Vector3d &position) const
Apply the inverse of this transformation to an (x, y, yaw) position.
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Transformation(double rotation, double scale, Eigen::Vector2d translation)