Static Public Member Functions
static Stamped< Matrix4d >	getStampedIdentityMatrix4d ()
static Stamped< Point3d >	getStampedPoint3d ()
static double	getTimeNowSecs ()
static Stamped< Point3d >	pointArrayToStampedPoint3d (float[] p, String frameID, double secs)
static Stamped< Matrix4d >	poseArrayToStampedMatrix4d (float[] m, String frameID, double secs)
static StampedTransform	poseArrayToTF (float[] p, String frameId, String childFrameId)
static Time	secondsToRosTime (double secs)
static double[]	stampedMatrix4dToPoseArray (Stamped< Matrix4d > stamped)
static double[]	stampedPoint3dToPointArray (Stamped< Point3d > stamped)
static double[]	tfToPoseArray (StampedTransform tf)

Detailed Description

Utilities for using tfjava, especially for calling the methods from Prolog (see tf_prolog package)

Author:: Sjoerd van den Dries, Moritz Tenorth

Version:: August 2, 2011

Definition at line 46 of file Utils.java.

Member Function Documentation

static Stamped<Matrix4d> tfjava.Utils.getStampedIdentityMatrix4d ( ) [inline, static]

Create an identity matrix Stamped<Matrix4d>

Returns:: Identity matrix

Definition at line 178 of file Utils.java.

static Stamped<Point3d> tfjava.Utils.getStampedPoint3d ( ) [inline, static]

Create an empty Stamped<Point3d> object (position 0,0,0)

Returns:: empty Stamped<Point3d>

Definition at line 192 of file Utils.java.

static double tfjava.Utils.getTimeNowSecs ( ) [inline, static]

Get the current time in seconds

Returns:: Time stamp in seconds

Definition at line 63 of file Utils.java.

static Stamped<Point3d> tfjava.Utils.pointArrayToStampedPoint3d	(	float[]	p,
		String	frameID,
		double	secs
	)		`[inline, static]`

Convert a point array [x,y,z] to a Stamped<Point3d> object

Parameters:

p	Point to be converted
frameID	TF frame ID
secs	Time stamp in seconds

Returns:: Stamped<Point3d> with the position information

Definition at line 121 of file Utils.java.

static Stamped<Matrix4d> tfjava.Utils.poseArrayToStampedMatrix4d	(	float[]	m,
		String	frameID,
		double	secs
	)		`[inline, static]`

Convert a pose array to a Stamped<Matrix4d> object

Parameters:

m	Array containing the pose matrix (row-based)
frameID	TF frame ID
secs	Time stamp in seconds

Returns:: Stamped<Matrix4d> with the pose information

Definition at line 158 of file Utils.java.

static StampedTransform tfjava.Utils.poseArrayToTF	(	float[]	p,
		String	frameId,
		String	childFrameId
	)		`[inline, static]`

Convert an array of pose elements into a StampedTransform

Parameters:

p	Row-based array with the matrix elements
frameId	TF frame ID
childFrameId	TF frame ID of the child node

Returns:: StampedTransform describing the transformation

Definition at line 90 of file Utils.java.

static Time tfjava.Utils.secondsToRosTime ( double secs ) [inline, static]

Convert time stamp in seconds into ros.communication.Time

Parameters:

secs	Time stamp in seconds

Returns:: ros.communication.Time object

Definition at line 55 of file Utils.java.

static double [] tfjava.Utils.stampedMatrix4dToPoseArray ( Stamped< Matrix4d > stamped ) [inline, static]

Convert a Stamped<Matrix4d> object to a pose array

Parameters:

stamped Stamped<Matrix4d> with the pose information

Returns:: Row-based array with the matrix elements

Definition at line 142 of file Utils.java.

static double [] tfjava.Utils.stampedPoint3dToPointArray ( Stamped< Point3d > stamped ) [inline, static]

Convert a Stamped<Point3d> object to a point array [x,y,z]

Parameters:

stamped Stamped<Point3d> with the position information

Returns:: Point array [x,y,z]

Definition at line 109 of file Utils.java.

static double [] tfjava.Utils.tfToPoseArray ( StampedTransform tf ) [inline, static]

Convert a StampedTransform into an array of pose elements

Parameters:

tf	StampedTransform describing the transformation

Returns:: Row-based array with the matrix elements

Definition at line 74 of file Utils.java.

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

Utils.java

Static Public Member Functions

Detailed Description

Member Function Documentation