Static Public Member Functions
tfjava.Utils Class Reference

List of all members.

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:
pPoint to be converted
frameIDTF frame ID
secsTime 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:
mArray containing the pose matrix (row-based)
frameIDTF frame ID
secsTime 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:
pRow-based array with the matrix elements
frameIdTF frame ID
childFrameIdTF 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:
secsTime 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:
stampedStamped<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:
stampedStamped<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:
tfStampedTransform 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:


tfjava
Author(s): Sjoerd van den Dries
autogenerated on Sun Oct 5 2014 22:54:19