Class Transform
Defined in File transform.h
Class Documentation
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class Transform
An abstraction of the tf2::Transform class to support transforms in addition to the rigid transforms supported by tf.
Additional transforms are implemented through transformer plug-ins.
It can be used in conjunction with the tf2::Vector3 data type.
Public Functions
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Transform()
Generates an identity transform.
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explicit Transform(const tf2::Transform &transform)
Generates a standard rigid transform from a tf2::Transform.
- Parameters:
transform – [in] The input transform.
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explicit Transform(const tf2::Stamped<tf2::Transform> &transform)
Generates a standard rigid transform from a tf2::Transform.
- Parameters:
transform – [in] The input transform.
Defines the transform using an arbitrary transform implementation.
- Parameters:
transform – [in] The input transform implementation.
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Transform &operator=(const tf2::Transform transform)
Assignment operator for tf2::Transform.
Generates a standard rigid transform from a tf2::Transform.
- Parameters:
transform – [in] The input transform.
Assignment operator for TransformImpl.
Note: The transform implementation is only a shallow copy.
- Parameters:
transform – [in] The input transform.
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tf2::Vector3 operator()(const tf2::Vector3 &v) const
Apply the transform to a vector and return the result.
- Parameters:
v – [in] The vector.
- Returns:
The transformed vector.
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tf2::Vector3 operator*(const tf2::Vector3 &v) const
Apply the transform to a vector and return the result.
- Parameters:
v – [in] The vector.
- Returns:
The transformed vector.
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tf2::Quaternion operator*(const tf2::Quaternion &q) const
Apply the transform to a quaternion and return the result.
- Parameters:
q – [in] The quaternion.
- Returns:
The transformed quaternion.
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tf2::Transform GetTF() const
Return a TF transform equivalent to this transform
- Returns:
The equivalent tf2::Transform
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tf2::Vector3 GetOrigin() const
Get the origin (translation component) of the transform
The result of this should always be equal to applying the transform to the vector (0, 0, 0).
- Returns:
The origin (translation component) of the transform
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tf2::Quaternion GetOrientation() const
Get the orientation (rotation component) of the transform
- Returns:
The orientation (translation component) of the transform
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inline tf2::TimePoint GetStamp()
Get the time stamp of the transform
- Returns:
The time stamp of the transform
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Transform()