#include <formatters.hpp>
Public Member Functions | |
| SE3fFormatter & | operator() (const Sophus::SE3f &s) |
| Format a sophus transform with permanently stored precision/width. | |
| SE3fFormatter & | operator() (const Sophus::SE3f &s, const int &w, const unsigned int &p) |
| Format a matrix with temporarily specified precision/width. | |
| SE3fFormatter & | precision (const unsigned int &p) |
| Sets the precision format parameter. | |
| unsigned int | precision () |
| Returns the current precision setting. | |
| SE3fFormatter (const int &w=-1, const unsigned int &p=2) | |
| Default constructor. | |
| SE3fFormatter & | width (const int &w) |
| Sets the width format parameter. | |
| int | width () |
| Returns the current width setting. | |
| virtual | ~SE3fFormatter () |
Private Attributes | |
| ecl::Format< float > | format |
| Stream the formatter. | |
| bool | ready_to_format |
| const Sophus::SE3f * | s_ |
| bool | tmp_formatting |
| unsigned int | tmp_precision |
| int | tmp_width |
Detailed Description
Formats the se3 in easily readable translation/quaternion syntax.
If you are working with frames, what you usually want to read is the pose of the frame, i.e. the inverse of the transform.
e.g. if you have T_cam_rel_map, to get the pose of the cam frame relative to the map frame, pass T_cam_rel_map.inverse() to this formatter.
Definition at line 38 of file sophus/formatters.hpp.
Constructor & Destructor Documentation
| Sophus::SE3fFormatter::SE3fFormatter | ( | const int & | w = -1, |
| const unsigned int & | p = 2 |
||
| ) | [inline] |
Default constructor.
Initialises the format tags for width, and precision.
- Parameters:
-
w : width (default - no width constraints) p : the number of decimal places of precision (default - 4)
Definition at line 48 of file sophus/formatters.hpp.
| virtual Sophus::SE3fFormatter::~SE3fFormatter | ( | ) | [inline, virtual] |
Definition at line 56 of file sophus/formatters.hpp.
Member Function Documentation
| SE3fFormatter& Sophus::SE3fFormatter::operator() | ( | const Sophus::SE3f & | s | ) | [inline] |
Format a sophus transform with permanently stored precision/width.
This function directly formats the specified input value with the stored settings.
cout << format(Sophus::SE3f()) << endl;
- Parameters:
-
matrix : the matrix to be formatted (gets temporarily stored as a pointer).
- Returns:
- FloatMatrixFormatter& : this formatter readied for use with a stream.
Definition at line 102 of file sophus/formatters.hpp.
| SE3fFormatter& Sophus::SE3fFormatter::operator() | ( | const Sophus::SE3f & | s, |
| const int & | w, | ||
| const unsigned int & | p | ||
| ) | [inline] |
Format a matrix with temporarily specified precision/width.
This function directly formats the specified input value and temporary settings.
Sophus::SE3f s; cout << format(s,3,-1) << endl; // precision of 3 and no width constraint
- Parameters:
-
matrix : the matrix to be formatted (gets temporarily stored as a pointer). w : the width to use for inserted floats (-1 is no width constraint). p : the number of decimal places of precision.
- Returns:
- FloatMatrixFormatter& : this formatter readied for use with a stream.
Definition at line 123 of file sophus/formatters.hpp.
| SE3fFormatter& Sophus::SE3fFormatter::precision | ( | const unsigned int & | p | ) | [inline] |
Sets the precision format parameter.
- Parameters:
-
p : the number of decimal places of precision.
- Returns:
- SE3fFormatter& : this formatter readied for use with a stream.
Definition at line 63 of file sophus/formatters.hpp.
| unsigned int Sophus::SE3fFormatter::precision | ( | ) | [inline] |
Returns the current precision setting.
- Returns:
- unsigned int : the precision value.
Definition at line 83 of file sophus/formatters.hpp.
| SE3fFormatter& Sophus::SE3fFormatter::width | ( | const int & | w | ) | [inline] |
Sets the width format parameter.
Sets the width format parameter.
- Parameters:
-
w : the width to use for inserted floats (-1 is no width constraint).
- Returns:
- FloatMatrixFormatter& : this formatter readied for use with a stream.
Definition at line 75 of file sophus/formatters.hpp.
| int Sophus::SE3fFormatter::width | ( | ) | [inline] |
Returns the current width setting.
- Returns:
- int : the witdh value (-1 for no width constraint).
Definition at line 89 of file sophus/formatters.hpp.
Member Data Documentation
ecl::Format<float> Sophus::SE3fFormatter::format [private] |
Stream the formatter.
Insertion operator for sending the formatter to an output stream.
- Parameters:
-
ostream : the output stream. formatter : the formatter to be inserted.
- Template Parameters:
-
OutputStream : the type of the output stream to be inserted into. Derived : matrix type.
- Returns:
- OutputStream : continue streaming with the updated output stream.
- Exceptions:
-
StandardException : throws if the formatter has un-specified _matrix [debug mode only]
Definition at line 145 of file sophus/formatters.hpp.
bool Sophus::SE3fFormatter::ready_to_format [private] |
Definition at line 152 of file sophus/formatters.hpp.
const Sophus::SE3f* Sophus::SE3fFormatter::s_ [private] |
Definition at line 153 of file sophus/formatters.hpp.
bool Sophus::SE3fFormatter::tmp_formatting [private] |
Definition at line 151 of file sophus/formatters.hpp.
unsigned int Sophus::SE3fFormatter::tmp_precision [private] |
Definition at line 150 of file sophus/formatters.hpp.
int Sophus::SE3fFormatter::tmp_width [private] |
Definition at line 149 of file sophus/formatters.hpp.
The documentation for this class was generated from the following file: