.. _program_listing_file__tmp_ws_src_tf2_2d_include_tf2_2d_transform.hpp:

Program Listing for File transform.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_tf2_2d_include_tf2_2d_transform.hpp>` (``/tmp/ws/src/tf2_2d/include/tf2_2d/transform.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   #ifndef TF2_2D__TRANSFORM_HPP_
   #define TF2_2D__TRANSFORM_HPP_
   
   #include <Eigen/Core>
   
   #include <tf2/LinearMath/Scalar.h>
   #include <tf2/LinearMath/Transform.h>
   #include <tf2_2d/rotation.hpp>
   #include <tf2_2d/vector2.hpp>
   
   
   namespace tf2_2d
   {
   
   class Transform
   {
   public:
     Transform();
   
     Transform(const Rotation & rotation, const Vector2 & translation);
   
     Transform(const tf2Scalar x, const tf2Scalar y, const tf2Scalar yaw);
   
     explicit Transform(const tf2::Transform & transform);
   
     Transform & operator*=(const Transform & rhs);
   
     bool operator==(const Transform & rhs);
   
     bool operator!=(const Transform & rhs);
   
     Transform lerp(const Transform & other, const tf2Scalar ratio) const;
   
     const Rotation & getRotation() const;
     const Rotation & rotation() const {return getRotation();}
   
     const Vector2 & getTranslation() const;
     const Vector2 & translation() const {return getTranslation();}
   
     void setRotation(const Rotation & other);
   
     void setTranslation(const Vector2 & other);
   
     const tf2Scalar & getX() const;
     const tf2Scalar & x() const {return getX();}
   
     const tf2Scalar & getY() const;
     const tf2Scalar & y() const {return getY();}
   
     const tf2Scalar & getYaw() const;
     const tf2Scalar & yaw() const {return getYaw();}
     // There are a lot of common aliases for yaw
     const tf2Scalar & getAngle() const {return getYaw();}
     const tf2Scalar & angle() const {return getYaw();}
     const tf2Scalar & getHeading() const {return getYaw();}
     const tf2Scalar & heading() const {return getYaw();}
     const tf2Scalar & getTheta() const {return getYaw();}
     const tf2Scalar & theta() const {return getYaw();}
   
     void setX(const tf2Scalar x);
   
     void setY(const tf2Scalar y);
   
     void setYaw(const tf2Scalar yaw);
     // There are a lot of common aliases for yaw
     void setAngle(const tf2Scalar angle) {setYaw(angle);}
     void setHeading(const tf2Scalar heading) {setYaw(heading);}
     void setTheta(const tf2Scalar theta) {setYaw(theta);}
   
     void setIdentity();
   
     Transform inverse() const;
   
     Transform inverseTimes(const Transform & other) const;
   
     Eigen::Matrix3d getHomogeneousMatrix() const;
   
   private:
     Rotation rotation_;  
     Vector2 translation_;  
   };
   
   Transform operator*(Transform lhs, const Transform & rhs);
   
   Vector2 operator*(const Transform & lhs, const Vector2 & rhs);
   
   Rotation operator*(const Transform & lhs, const Rotation & rhs);
   
   std::ostream & operator<<(std::ostream & stream, const Transform & transform);
   
   }  // namespace tf2_2d
   
   #include <tf2_2d/transform_impl.hpp>
   
   #endif  // TF2_2D__TRANSFORM_HPP_