TangoTransformation Struct Reference

#include <tango_client_api.h>

Public Attributes
double	orientation [4]
double	translation [3]

Detailed Description

The TangoTransformation struct contains an orientation and translation that can be applied to transform a point.

Definition at line 338 of file tango_client_api.h.

Member Data Documentation

double TangoTransformation::orientation[4]

Orientation, as a quaternion, of the transformation of the target frame with reference to the base frame. Specified as (x,y,z,w) where RotationAngle is in radians:

x = RotationAxis.x * sin(RotationAngle / 2)
y = RotationAxis.y * sin(RotationAngle / 2)
z = RotationAxis.z * sin(RotationAngle / 2)
w = cos(RotationAngle / 2)

Definition at line 348 of file tango_client_api.h.

double TangoTransformation::translation[3]

Translation, ordered x, y, z, of the transformation of the target frame with reference to the base frame.

Definition at line 352 of file tango_client_api.h.

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

• tango_client_api.h