HectorMapTools::CoordinateTransformer< ConcreteScalar > Class Template Reference

#include <HectorMapTools.h>

Public Member Functions
	CoordinateTransformer ()
	CoordinateTransformer (const nav_msgs::OccupancyGridConstPtr map)
Eigen::Matrix< ConcreteScalar, 2, 1 >	getC1Coords (const Eigen::Matrix< ConcreteScalar, 2, 1 > &mapCoords) const
ConcreteScalar	getC1Scale (float c2_scale) const
Eigen::Matrix< ConcreteScalar, 2, 1 >	getC2Coords (const Eigen::Matrix< ConcreteScalar, 2, 1 > &worldCoords) const
ConcreteScalar	getC2Scale (float c1_scale) const
void	setTransforms (const nav_msgs::OccupancyGrid &map)
void	setTransforms (const nav_msgs::MapMetaData &meta)
void	setTransformsBetweenCoordSystems (const Eigen::Matrix< ConcreteScalar, 2, 1 > &origoCS1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &endCS1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &origoCS2, const Eigen::Matrix< ConcreteScalar, 2, 1 > &endCS2)

Protected Member Functions
Eigen::Matrix< ConcreteScalar, 2, 1 >	getLinearTransform (const Eigen::Matrix< ConcreteScalar, 2, 1 > &coordSystem1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &coordSystem2)

Protected Attributes
ConcreteScalar	inv_scale_
Eigen::Matrix< ConcreteScalar, 2, 1 >	origo_
ConcreteScalar	scale_

Detailed Description

template<typename ConcreteScalar>
class HectorMapTools::CoordinateTransformer< ConcreteScalar >

Definition at line 41 of file HectorMapTools.h.

Constructor & Destructor Documentation

template<typename ConcreteScalar>

HectorMapTools::CoordinateTransformer< ConcreteScalar >::CoordinateTransformer ( )

inline

Definition at line 44 of file HectorMapTools.h.

template<typename ConcreteScalar>

HectorMapTools::CoordinateTransformer< ConcreteScalar >::CoordinateTransformer ( const nav_msgs::OccupancyGridConstPtr  map )

inline

Definition at line 49 of file HectorMapTools.h.

Member Function Documentation

template<typename ConcreteScalar>

Eigen::Matrix<ConcreteScalar, 2, 1> HectorMapTools::CoordinateTransformer< ConcreteScalar >::getC1Coords ( const Eigen::Matrix< ConcreteScalar, 2, 1 > &  mapCoords ) const

inline

Definition at line 84 of file HectorMapTools.h.

template<typename ConcreteScalar>

ConcreteScalar HectorMapTools::CoordinateTransformer< ConcreteScalar >::getC1Scale ( float  c2_scale ) const

inline

Definition at line 94 of file HectorMapTools.h.

template<typename ConcreteScalar>

Eigen::Matrix<ConcreteScalar, 2, 1> HectorMapTools::CoordinateTransformer< ConcreteScalar >::getC2Coords ( const Eigen::Matrix< ConcreteScalar, 2, 1 > &  worldCoords ) const

inline

Definition at line 89 of file HectorMapTools.h.

template<typename ConcreteScalar>

ConcreteScalar HectorMapTools::CoordinateTransformer< ConcreteScalar >::getC2Scale ( float  c1_scale ) const

inline

Definition at line 99 of file HectorMapTools.h.

template<typename ConcreteScalar>

Eigen::Matrix<ConcreteScalar, 2, 1> HectorMapTools::CoordinateTransformer< ConcreteScalar >::getLinearTransform ( const Eigen::Matrix< ConcreteScalar, 2, 1 > &  coordSystem1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &  coordSystem2  )

inlineprotected

Definition at line 106 of file HectorMapTools.h.

template<typename ConcreteScalar>

void HectorMapTools::CoordinateTransformer< ConcreteScalar >::setTransforms ( const nav_msgs::OccupancyGrid &  map )

inline

Definition at line 55 of file HectorMapTools.h.

template<typename ConcreteScalar>

void HectorMapTools::CoordinateTransformer< ConcreteScalar >::setTransforms ( const nav_msgs::MapMetaData &  meta )

inline

Definition at line 60 of file HectorMapTools.h.

template<typename ConcreteScalar>

void HectorMapTools::CoordinateTransformer< ConcreteScalar >::setTransformsBetweenCoordSystems ( const Eigen::Matrix< ConcreteScalar, 2, 1 > &  origoCS1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &  endCS1, const Eigen::Matrix< ConcreteScalar, 2, 1 > &  origoCS2, const Eigen::Matrix< ConcreteScalar, 2, 1 > &  endCS2  )

inline

Definition at line 67 of file HectorMapTools.h.

Member Data Documentation

template<typename ConcreteScalar>

ConcreteScalar HectorMapTools::CoordinateTransformer< ConcreteScalar >::inv_scale_

protected

Definition at line 115 of file HectorMapTools.h.

template<typename ConcreteScalar>

Eigen::Matrix<ConcreteScalar, 2, 1> HectorMapTools::CoordinateTransformer< ConcreteScalar >::origo_

protected

Definition at line 113 of file HectorMapTools.h.

template<typename ConcreteScalar>

ConcreteScalar HectorMapTools::CoordinateTransformer< ConcreteScalar >::scale_

protected

Definition at line 114 of file HectorMapTools.h.

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

• HectorMapTools.h