tfjava.TransformStorage Class Reference

List of all members.

Public Member Functions
Frame	getChildFrame ()
Frame	getParentFrame ()
Quat4d	getRotation ()
long	getTimeStamp ()
Vector3d	getTranslation ()
String	toString ()
	TransformStorage (Vector3d translation, Quat4d rotation, long timeStamp, Frame parentFrame, Frame childFrame)
Static Public Member Functions
static TransformStorage	interpolate (TransformStorage t1, TransformStorage t2, long time)
Protected Attributes
Frame	childFrame
Frame	parentFrame
Quat4d	rotation
long	timeStamp
Vector3d	translation

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Detailed Description

Transformation stamped with time, frame ID and child frame ID, as it is stored in the buffer.

A transformation object of this class is internally represented by a translation vector and rotation quaternion. Since tf messages are also represented this way, no expensive conversion takes place if a tf is stored in the buffer. Once a transform of this type is needed for actual transformation, it is converted to a StampedTransform object that is represented by a 4x4 matrix.

Author:

Sjoerd van den Dries

Version:

March 3, 2011

Definition at line 48 of file TransformStorage.java.

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Constructor & Destructor Documentation

tfjava.TransformStorage.TransformStorage	(	Vector3d	translation,
		Quat4d	rotation,
		long	timeStamp,
		Frame	parentFrame,
		Frame	childFrame
	)		[inline]

Class constructor.

Definition at line 64 of file TransformStorage.java.

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Member Function Documentation

Frame tfjava.TransformStorage.getChildFrame

(

)

[inline]

Returns a reference to the child (i.e., target) frame

Definition at line 104 of file TransformStorage.java.

Frame tfjava.TransformStorage.getParentFrame

(

)

[inline]

Returns a reference to the parent (i.e., source) frame

Definition at line 111 of file TransformStorage.java.

Quat4d tfjava.TransformStorage.getRotation

(

)

[inline]

Returns the rotation quaternion

Definition at line 132 of file TransformStorage.java.

long tfjava.TransformStorage.getTimeStamp

(

)

[inline]

Returns the time stamp of this transform, in nanoseconds.

Definition at line 118 of file TransformStorage.java.

Vector3d tfjava.TransformStorage.getTranslation

(

)

[inline]

Returns the translation vector

Definition at line 125 of file TransformStorage.java.

static TransformStorage tfjava.TransformStorage.interpolate	(	TransformStorage	t1,
		TransformStorage	t2,
		long	time
	)		[inline, static]

Returns a new TransformStorage object that is an interpolation between or (forward or backward) extrapolation from t1 and t2.

Definition at line 76 of file TransformStorage.java.

String tfjava.TransformStorage.toString

(

)

[inline]

Returns a string representation of this transform

Definition at line 139 of file TransformStorage.java.

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Member Data Documentation

Frame tfjava.TransformStorage.childFrame [protected]

Reference to the child frame (source frame)

Definition at line 53 of file TransformStorage.java.

Frame tfjava.TransformStorage.parentFrame [protected]

Reference to the parent frame (source frame)

Definition at line 51 of file TransformStorage.java.

Quat4d tfjava.TransformStorage.rotation [protected]

Rotation quaternion

Definition at line 59 of file TransformStorage.java.

long tfjava.TransformStorage.timeStamp [protected]

Time stamp in nanoseconds

Definition at line 55 of file TransformStorage.java.

Vector3d tfjava.TransformStorage.translation [protected]

Translation vector

Definition at line 57 of file TransformStorage.java.

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

• TransformStorage.java