AISNavigation::Transformation2< T > Struct Template Reference

A class to represent 2D transformations (rotation and translation) More...

#include <transformation2.hh>

Public Member Functions
Transformation2< T >	inv () const
T	rotation () const
void	setRotation (const T &theta)
void	setTranslation (const Vector2< T > &t)
void	setTranslation (const T &x, const T &y)
Pose2< T >	toPoseType () const
	Transformation2 (bool initAsIdentity=true)
	Transformation2 (const T &x, const T &y, const T &theta)
	Transformation2 (const T &_theta, const Vector2< T > &trans)
	Transformation2 (const Pose2< T > &v)
Vector2< T >	translation () const

Static Public Member Functions
static Transformation2< T >	identity ()

Public Attributes
T	rotationMatrix [2][2]
	the rotation matrix More...
T	translationVector [2]
	the translation vector More...

Detailed Description

template<class T>
struct AISNavigation::Transformation2< T >

A class to represent 2D transformations (rotation and translation)

Definition at line 161 of file transformation2.hh.

Constructor & Destructor Documentation

template<class T>

AISNavigation::Transformation2< T >::Transformation2 ( bool  initAsIdentity = true )

inline

Default constructor

Parameters

initAsIdentity

if true (default) the transormation is the identity, otherwise no initializtion

Definition at line 168 of file transformation2.hh.

template<class T>

AISNavigation::Transformation2< T >::Transformation2 ( const T &  x, const T &  y, const T &  theta  )

inline

Constructor that sets the translation and rotation

Definition at line 184 of file transformation2.hh.

template<class T>

AISNavigation::Transformation2< T >::Transformation2 ( const T &  _theta, const Vector2< T > &  trans  )

inline

Constructor that sets the translation and rotation

Definition at line 190 of file transformation2.hh.

template<class T>

AISNavigation::Transformation2< T >::Transformation2 ( const Pose2< T > &  v )

inline

Copy constructor

Definition at line 197 of file transformation2.hh.

Member Function Documentation

template<class T>

static Transformation2<T> AISNavigation::Transformation2< T >::identity ( )

inlinestatic

Returns

Identity transformation

Definition at line 178 of file transformation2.hh.

template<class T>

Transformation2<T> AISNavigation::Transformation2< T >::inv ( ) const

inline

Computes the inveres of the transformation

Definition at line 241 of file transformation2.hh.

template<class T>

T AISNavigation::Transformation2< T >::rotation ( ) const

inline

Get the rotation

Definition at line 210 of file transformation2.hh.

template<class T>

void AISNavigation::Transformation2< T >::setRotation ( const T &  theta )

inline

Set the rotation

Definition at line 228 of file transformation2.hh.

template<class T>

void AISNavigation::Transformation2< T >::setTranslation ( const Vector2< T > &  t )

inline

Set the translation

Definition at line 223 of file transformation2.hh.

template<class T>

void AISNavigation::Transformation2< T >::setTranslation ( const T &  x, const T &  y  )

inline

Set the translation

Definition at line 235 of file transformation2.hh.

template<class T>

Pose2<T> AISNavigation::Transformation2< T >::toPoseType ( ) const

inline

Computed the Pose based on the translation and rotation

Definition at line 215 of file transformation2.hh.

template<class T>

Vector2<T> AISNavigation::Transformation2< T >::translation ( ) const

inline

Get the translation

Definition at line 204 of file transformation2.hh.

Member Data Documentation

template<class T>

T AISNavigation::Transformation2< T >::rotationMatrix[2][2]

the rotation matrix

Definition at line 162 of file transformation2.hh.

template<class T>

T AISNavigation::Transformation2< T >::translationVector[2]

the translation vector

Definition at line 163 of file transformation2.hh.

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

• transformation2.hh