karto::RigidBodyTransform Class Reference

#include <RigidBodyTransform.h>

Public Member Functions
karto::Pose2	InverseTransformPose (const karto::Pose2 &rSourcePose)
	RigidBodyTransform (const karto::Pose2 &rPose)
	RigidBodyTransform (const karto::Pose2 &rPose1, const karto::Pose2 &rPose2)
karto::Pose2	TransformPose (const karto::Pose2 &rSourcePose)

Private Member Functions
void	SetTransform (const karto::Pose2 &rPose1, const karto::Pose2 &rPose2)

Private Attributes
karto::Pose2	m_InvTransform
karto::Pose2	m_Transform

Detailed Description

Implementation of a Pose2 rigid body transform

Definition at line 36 of file RigidBodyTransform.h.

Constructor & Destructor Documentation

RigidBodyTransform::RigidBodyTransform

(

const karto::Pose2 &

rPose

)

Transformation from the origin to the given pose

Parameters

rPose

pose

Definition at line 27 of file RigidBodyTransform.cpp.

RigidBodyTransform::RigidBodyTransform	(	const karto::Pose2 &	rPose1,
		const karto::Pose2 &	rPose2
	)

Transformation from the first pose to the second pose

Parameters

rPose1	first pose
rPose2	second pose

Definition at line 32 of file RigidBodyTransform.cpp.

Member Function Documentation

karto::Pose2 RigidBodyTransform::InverseTransformPose

(

const karto::Pose2 &

rSourcePose

)

Inverse transformation of the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 68 of file RigidBodyTransform.cpp.

void RigidBodyTransform::SetTransform ( const karto::Pose2 &  rPose1, const karto::Pose2 &  rPose2  )

private

Sets this to be the transformation from the first pose to the second pose

Parameters

rPose1	first pose
rPose2	second pose

Definition at line 37 of file RigidBodyTransform.cpp.

karto::Pose2 RigidBodyTransform::TransformPose

(

const karto::Pose2 &

rSourcePose

)

Transforms the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 58 of file RigidBodyTransform.cpp.

Member Data Documentation

karto::Pose2 karto::RigidBodyTransform::m_InvTransform

private

Definition at line 40 of file RigidBodyTransform.h.

karto::Pose2 karto::RigidBodyTransform::m_Transform

private

Definition at line 39 of file RigidBodyTransform.h.

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

• RigidBodyTransform.h
• RigidBodyTransform.cpp