rtabmap::Transform Class Reference

#include <Transform.h>

Public Member Functions
Transform	clone () const
const float *	data () const
float *	data ()
const cv::Mat &	dataMatrix () const
float	getAngle (float x=1.0f, float y=0.0f, float z=0.0f) const
float	getDistance (const Transform &t) const
float	getDistanceSquared (const Transform &t) const
void	getEulerAngles (float &roll, float &pitch, float &yaw) const
float	getNorm () const
float	getNormSquared () const
Eigen::Quaterniond	getQuaterniond () const
Eigen::Quaternionf	getQuaternionf () const
void	getTranslation (float &x, float &y, float &z) const
void	getTranslationAndEulerAngles (float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Transform	interpolate (float t, const Transform &other) const
Transform	inverse () const
bool	is3DoF () const
bool	is4DoF () const
bool	isIdentity () const
bool	isInvertible () const
bool	isNull () const
void	normalizeRotation ()
float	o14 () const
float	o24 () const
float	o34 () const
bool	operator!= (const Transform &t) const
float &	operator() (int row, int col)
const float &	operator() (int row, int col) const
Transform	operator* (const Transform &t) const
Transform &	operator*= (const Transform &t)
bool	operator== (const Transform &t) const
float &	operator[] (int index)
const float &	operator[] (int index) const
std::string	prettyPrint () const
float	r11 () const
float	r12 () const
float	r13 () const
float	r21 () const
float	r22 () const
float	r23 () const
float	r31 () const
float	r32 () const
float	r33 () const
Transform	rotation () const
cv::Mat	rotationMatrix () const
	RTABMAP_DEPRECATED (static Transform getClosestTransform(const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff), "Use Transform::getTransform() instead to get always accurate transforms.")
void	setIdentity ()
void	setNull ()
int	size () const
float	theta () const
Transform	to3DoF () const
Transform	to4DoF () const
Eigen::Affine3d	toEigen3d () const
Eigen::Affine3f	toEigen3f () const
Eigen::Matrix4d	toEigen4d () const
Eigen::Matrix4f	toEigen4f () const
	Transform ()
	Transform (float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)
	Transform (const cv::Mat &transformationMatrix)
	Transform (float x, float y, float z, float roll, float pitch, float yaw)
	Transform (float x, float y, float z, float qx, float qy, float qz, float qw)
	Transform (float x, float y, float theta)
Transform	translation () const
cv::Mat	translationMatrix () const
float &	x ()
const float &	x () const
float &	y ()
const float &	y () const
float &	z ()
const float &	z () const

Static Public Member Functions
static bool	canParseString (const std::string &string)
static Transform	fromEigen3d (const Eigen::Affine3d &matrix)
static Transform	fromEigen3d (const Eigen::Isometry3d &matrix)
static Transform	fromEigen3d (const Eigen::Matrix< double, 3, 4 > &matrix)
static Transform	fromEigen3f (const Eigen::Affine3f &matrix)
static Transform	fromEigen3f (const Eigen::Isometry3f &matrix)
static Transform	fromEigen3f (const Eigen::Matrix< float, 3, 4 > &matrix)
static Transform	fromEigen4d (const Eigen::Matrix4d &matrix)
static Transform	fromEigen4f (const Eigen::Matrix4f &matrix)
static Transform	fromString (const std::string &string)
static Transform	getIdentity ()
static Transform	getTransform (const std::map< double, Transform > &tfBuffer, const double &stamp)
static Transform	opengl_T_rtabmap ()
static Transform	rtabmap_T_opengl ()

Private Attributes
cv::Mat	data_

Detailed Description

Definition at line 41 of file Transform.h.

Constructor & Destructor Documentation

Transform() [1/6]

rtabmap::Transform::Transform

(

)

Definition at line 41 of file Transform.cpp.

Transform() [2/6]

rtabmap::Transform::Transform	(	float	r11,
		float	r12,
		float	r13,
		float	o14,
		float	r21,
		float	r22,
		float	r23,
		float	o24,
		float	r31,
		float	r32,
		float	r33,
		float	o34
	)

Definition at line 46 of file Transform.cpp.

Transform() [3/6]

rtabmap::Transform::Transform

(

const cv::Mat &

transformationMatrix

)

Definition at line 57 of file Transform.cpp.

Transform() [4/6]

rtabmap::Transform::Transform	(	float	x,
		float	y,
		float	z,
		float	roll,
		float	pitch,
		float	yaw
	)

Definition at line 72 of file Transform.cpp.

Transform() [5/6]

rtabmap::Transform::Transform	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Definition at line 78 of file Transform.cpp.

Transform() [6/6]

rtabmap::Transform::Transform	(	float	x,
		float	y,
		float	theta
	)

Definition at line 96 of file Transform.cpp.

Member Function Documentation

canParseString()

bool rtabmap::Transform::canParseString ( const std::string &  string )

static

Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz

Definition at line 514 of file Transform.cpp.

clone()

Transform rtabmap::Transform::clone

(

)

const

Definition at line 102 of file Transform.cpp.

data() [1/2]

const float* rtabmap::Transform::data ( ) const

inline

Definition at line 88 of file Transform.h.

data() [2/2]

float* rtabmap::Transform::data ( )

inline

Definition at line 89 of file Transform.h.

dataMatrix()

const cv::Mat& rtabmap::Transform::dataMatrix ( ) const

inline

Definition at line 87 of file Transform.h.

fromEigen3d() [1/3]

Transform rtabmap::Transform::fromEigen3d ( const Eigen::Affine3d &  matrix )

static

Definition at line 425 of file Transform.cpp.

fromEigen3d() [2/3]

Transform rtabmap::Transform::fromEigen3d ( const Eigen::Isometry3d &  matrix )

static

Definition at line 438 of file Transform.cpp.

fromEigen3d() [3/3]

Transform rtabmap::Transform::fromEigen3d ( const Eigen::Matrix< double, 3, 4 > &  matrix )

static

Definition at line 451 of file Transform.cpp.

fromEigen3f() [1/3]

Transform rtabmap::Transform::fromEigen3f ( const Eigen::Affine3f &  matrix )

static

Definition at line 419 of file Transform.cpp.

fromEigen3f() [2/3]

Transform rtabmap::Transform::fromEigen3f ( const Eigen::Isometry3f &  matrix )

static

Definition at line 432 of file Transform.cpp.

fromEigen3f() [3/3]

Transform rtabmap::Transform::fromEigen3f ( const Eigen::Matrix< float, 3, 4 > &  matrix )

static

Definition at line 445 of file Transform.cpp.

fromEigen4d()

Transform rtabmap::Transform::fromEigen4d ( const Eigen::Matrix4d &  matrix )

static

Definition at line 412 of file Transform.cpp.

fromEigen4f()

Transform rtabmap::Transform::fromEigen4f ( const Eigen::Matrix4f &  matrix )

static

Definition at line 406 of file Transform.cpp.

fromString()

Transform rtabmap::Transform::fromString ( const std::string &  string )

static

Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz

Definition at line 465 of file Transform.cpp.

getAngle()

float rtabmap::Transform::getAngle	(	float	x = 1.0f,
		float	y = 0.0f,
		float	z = 0.0f
	)		const

Definition at line 266 of file Transform.cpp.

getDistance()

float rtabmap::Transform::getDistance

(

const Transform &

t

)

const

Definition at line 283 of file Transform.cpp.

getDistanceSquared()

float rtabmap::Transform::getDistanceSquared

(

const Transform &

t

)

const

Definition at line 288 of file Transform.cpp.

getEulerAngles()

void rtabmap::Transform::getEulerAngles	(	float &	roll,
		float &	pitch,
		float &	yaw
	)		const

Definition at line 253 of file Transform.cpp.

getIdentity()

Transform rtabmap::Transform::getIdentity ( )

static

Definition at line 401 of file Transform.cpp.

getNorm()

float rtabmap::Transform::getNorm

(

)

const

Definition at line 273 of file Transform.cpp.

getNormSquared()

float rtabmap::Transform::getNormSquared

(

)

const

Definition at line 278 of file Transform.cpp.

getQuaterniond()

Eigen::Quaterniond rtabmap::Transform::getQuaterniond

(

)

const

Definition at line 396 of file Transform.cpp.

getQuaternionf()

Eigen::Quaternionf rtabmap::Transform::getQuaternionf

(

)

const

Definition at line 391 of file Transform.cpp.

getTransform()

Transform rtabmap::Transform::getTransform ( const std::map< double, Transform > &  tfBuffer, const double &  stamp  )

static

Definition at line 520 of file Transform.cpp.

getTranslation()

void rtabmap::Transform::getTranslation	(	float &	x,
		float &	y,
		float &	z
	)		const

Definition at line 259 of file Transform.cpp.

getTranslationAndEulerAngles()

void rtabmap::Transform::getTranslationAndEulerAngles	(	float &	x,
		float &	y,
		float &	z,
		float &	roll,
		float &	pitch,
		float &	yaw
	)		const

Definition at line 248 of file Transform.cpp.

interpolate()

Transform rtabmap::Transform::interpolate	(	float	t,
		const Transform &	other
	)		const

Definition at line 293 of file Transform.cpp.

inverse()

Transform rtabmap::Transform::inverse

(

)

const

Definition at line 178 of file Transform.cpp.

is3DoF()

bool rtabmap::Transform::is3DoF

(

)

const

Definition at line 224 of file Transform.cpp.

is4DoF()

bool rtabmap::Transform::is4DoF

(

)

const

Definition at line 229 of file Transform.cpp.

isIdentity()

bool rtabmap::Transform::isIdentity

(

)

const

Definition at line 136 of file Transform.cpp.

isInvertible()

bool rtabmap::Transform::isInvertible

(

)

const

Definition at line 169 of file Transform.cpp.

isNull()

bool rtabmap::Transform::isNull

(

)

const

Definition at line 107 of file Transform.cpp.

normalizeRotation()

void rtabmap::Transform::normalizeRotation

(

)

Definition at line 306 of file Transform.cpp.

o14()

float rtabmap::Transform::o14 ( ) const

inline

Definition at line 72 of file Transform.h.

o24()

float rtabmap::Transform::o24 ( ) const

inline

Definition at line 73 of file Transform.h.

o34()

float rtabmap::Transform::o34 ( ) const

inline

Definition at line 74 of file Transform.h.

opengl_T_rtabmap()

static Transform rtabmap::Transform::opengl_T_rtabmap ( )

inlinestatic

Definition at line 149 of file Transform.h.

operator!=()

bool rtabmap::Transform::operator!=

(

const Transform &

t

)

const

Definition at line 349 of file Transform.cpp.

operator()() [1/2]

float& rtabmap::Transform::operator() ( int  row, int  col  )

inline

Definition at line 78 of file Transform.h.

operator()() [2/2]

const float& rtabmap::Transform::operator() ( int  row, int  col  ) const

inline

Definition at line 79 of file Transform.h.

operator*()

Transform rtabmap::Transform::operator*

(

const Transform &

t

)

const

Definition at line 330 of file Transform.cpp.

operator*=()

Transform & rtabmap::Transform::operator*=

(

const Transform &

t

)

Definition at line 338 of file Transform.cpp.

operator==()

bool rtabmap::Transform::operator==

(

const Transform &

t

)

const

Definition at line 344 of file Transform.cpp.

operator[]() [1/2]

float& rtabmap::Transform::operator[] ( int  index )

inline

Definition at line 76 of file Transform.h.

operator[]() [2/2]

const float& rtabmap::Transform::operator[] ( int  index ) const

inline

Definition at line 77 of file Transform.h.

prettyPrint()

std::string rtabmap::Transform::prettyPrint

(

)

const

Definition at line 316 of file Transform.cpp.

r11()

float rtabmap::Transform::r11 ( ) const

inline

Definition at line 62 of file Transform.h.

r12()

float rtabmap::Transform::r12 ( ) const

inline

Definition at line 63 of file Transform.h.

r13()

float rtabmap::Transform::r13 ( ) const

inline

Definition at line 64 of file Transform.h.

r21()

float rtabmap::Transform::r21 ( ) const

inline

Definition at line 65 of file Transform.h.

r22()

float rtabmap::Transform::r22 ( ) const

inline

Definition at line 66 of file Transform.h.

r23()

float rtabmap::Transform::r23 ( ) const

inline

Definition at line 67 of file Transform.h.

r31()

float rtabmap::Transform::r31 ( ) const

inline

Definition at line 68 of file Transform.h.

r32()

float rtabmap::Transform::r32 ( ) const

inline

Definition at line 69 of file Transform.h.

r33()

float rtabmap::Transform::r33 ( ) const

inline

Definition at line 70 of file Transform.h.

rotation()

Transform rtabmap::Transform::rotation

(

)

const

Definition at line 195 of file Transform.cpp.

rotationMatrix()

cv::Mat rtabmap::Transform::rotationMatrix

(

)

const

Definition at line 238 of file Transform.cpp.

RTABMAP_DEPRECATED()

rtabmap::Transform::RTABMAP_DEPRECATED	(	static Transform	getClosestTransformconst std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff,
		"Use Transform::getTransform() instead to get always accurate transforms."
	)

rtabmap_T_opengl()

static Transform rtabmap::Transform::rtabmap_T_opengl ( )

inlinestatic

Definition at line 153 of file Transform.h.

setIdentity()

void rtabmap::Transform::setIdentity

(

)

Definition at line 157 of file Transform.cpp.

setNull()

void rtabmap::Transform::setNull

(

)

Definition at line 152 of file Transform.cpp.

size()

int rtabmap::Transform::size ( ) const

inline

Definition at line 90 of file Transform.h.

theta()

float rtabmap::Transform::theta

(

)

const

Definition at line 162 of file Transform.cpp.

to3DoF()

Transform rtabmap::Transform::to3DoF

(

)

const

Definition at line 210 of file Transform.cpp.

to4DoF()

Transform rtabmap::Transform::to4DoF

(

)

const

Definition at line 217 of file Transform.cpp.

toEigen3d()

Eigen::Affine3d rtabmap::Transform::toEigen3d

(

)

const

Definition at line 386 of file Transform.cpp.

toEigen3f()

Eigen::Affine3f rtabmap::Transform::toEigen3f

(

)

const

Definition at line 381 of file Transform.cpp.

toEigen4d()

Eigen::Matrix4d rtabmap::Transform::toEigen4d

(

)

const

Definition at line 371 of file Transform.cpp.

toEigen4f()

Eigen::Matrix4f rtabmap::Transform::toEigen4f

(

)

const

Definition at line 362 of file Transform.cpp.

translation()

Transform rtabmap::Transform::translation

(

)

const

Definition at line 203 of file Transform.cpp.

translationMatrix()

cv::Mat rtabmap::Transform::translationMatrix

(

)

const

Definition at line 243 of file Transform.cpp.

x() [1/2]

float& rtabmap::Transform::x ( )

inline

Definition at line 92 of file Transform.h.

x() [2/2]

const float& rtabmap::Transform::x ( ) const

inline

Definition at line 95 of file Transform.h.

y() [1/2]

float& rtabmap::Transform::y ( )

inline

Definition at line 93 of file Transform.h.

y() [2/2]

const float& rtabmap::Transform::y ( ) const

inline

Definition at line 96 of file Transform.h.

z() [1/2]

float& rtabmap::Transform::z ( )

inline

Definition at line 94 of file Transform.h.

z() [2/2]

const float& rtabmap::Transform::z ( ) const

inline

Definition at line 97 of file Transform.h.

Member Data Documentation

data_

cv::Mat rtabmap::Transform::data_

private

Definition at line 177 of file Transform.h.

---

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

• Transform.h
• Transform.cpp