Class Transformation

Class Documentation

class Transformation

A Transformation object that stores the transformation data needed to perform transformation between robot and RMF cartesian frames.

Public Functions

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.

double rotation() const

Get the rotation of this Transformation.

double scale() const

Get the scale of this Transformation.

const Eigen::Vector2d &translation() const

Get the translation of this Transformation.

Eigen::Vector3d apply(const Eigen::Vector3d &position) const

Apply this transformation to an (x, y, yaw) position.

Eigen::Vector3d apply_inverse(const Eigen::Vector3d &position) const

Apply the inverse of this transformation to an (x, y, yaw) position.