Transform describes a combination of a rotation and a translation. More...

#include <transform.h>

Public Member Functions
Eigen::Affine3d	affine () const
	Returns this transform as an affine transformation matrix.
transform_graph::Transform	inverse () const
	Returns the inverse of this transform.
Eigen::Matrix4d	matrix () const
	Returns this transform's homogeneous transform matrix.
transform_graph::Orientation	orientation () const
	Returns the orientation component of this transform.
geometry_msgs::Pose	pose () const
	Returns this transform as a geometry_msgs::Pose.
transform_graph::Position	position () const
	Returns the position component of this transform.
tf::Transform	tf_transform () const
	Returns this transform as a tf::Transform.
void	ToPose (geometry_msgs::Pose *pose) const
	Returns this transform as a geometry_msgs::Pose.
	Transform ()
	Default, identity constructor.
	Transform (const transform_graph::Position &position, const transform_graph::Orientation &orientation)
	Transform (const tf::Transform &st)
	Constructor from a tf Transform.
	Transform (const geometry_msgs::Pose &p)
	Constructor from a pose.
	Transform (const geometry_msgs::Transform &p)
	Constructor from a pose.
	Transform (const Eigen::Affine3d &a)
	Constructor from an Eigen Affine matrix.
	Transform (const Eigen::Matrix4d &m)
	Constructor from an Eigen matrix.
geometry_msgs::Transform	transform () const
	Returns this transform as a geometry_msgs::Pose.
Static Public Member Functions
static Transform	Identity ()
Private Attributes
Eigen::Affine3d	transform_

Detailed Description

Transform describes a combination of a rotation and a translation.

By default it is the identity transform.

There are various methods for converting a Transform back into other common types, such as tf::Tranform, geometry_msgs::Pose, and Eigen::Affine3d.

Definition at line 20 of file transform.h.

Constructor & Destructor Documentation

transform_graph::Transform::Transform ( )

Default, identity constructor.

Definition at line 17 of file transform.cpp.

transform_graph::Transform::Transform	(	const transform_graph::Position &	position,
		const transform_graph::Orientation &	orientation
	)

Constructor from other transform_graph types (or implicitly convertible types).

Parameters:

[in]	position	The position of this frame in the coordinate system of the reference frame.
[in]	orientation	The orientation of this frame relative to the reference frame.

Definition at line 19 of file transform.cpp.

transform_graph::Transform::Transform ( const tf::Transform & st )

Constructor from a tf Transform.

Definition at line 26 of file transform.cpp.

transform_graph::Transform::Transform ( const geometry_msgs::Pose & p )

Constructor from a pose.

transform_graph::Transform::Transform ( const geometry_msgs::Transform & p )

Constructor from a pose.

Definition at line 39 of file transform.cpp.

transform_graph::Transform::Transform ( const Eigen::Affine3d & a )

Constructor from an Eigen Affine matrix.

Definition at line 44 of file transform.cpp.

transform_graph::Transform::Transform ( const Eigen::Matrix4d & m )

Constructor from an Eigen matrix.

Definition at line 46 of file transform.cpp.

Member Function Documentation

Eigen::Affine3d transform_graph::Transform::affine ( ) const

Returns this transform as an affine transformation matrix.

Returns:: This transform's affine transformation matrix.

Definition at line 83 of file transform.cpp.

Transform transform_graph::Transform::Identity ( ) [static]

Deprecated:: Returns the identity transform.

Definition at line 48 of file transform.cpp.

Transform transform_graph::Transform::inverse ( ) const

Returns the inverse of this transform.

Returns:: The inverse of this transform.

Definition at line 96 of file transform.cpp.

Eigen::Matrix4d transform_graph::Transform::matrix ( ) const

Returns this transform's homogeneous transform matrix.

Returns:: This transform's homogeneous transform matrix.

Definition at line 81 of file transform.cpp.

transform_graph::Orientation transform_graph::Transform::orientation ( ) const

Returns the orientation component of this transform.

Returns:: The orientation component of this transform.

Definition at line 58 of file transform.cpp.

geometry_msgs::Pose transform_graph::Transform::pose ( ) const

Returns this transform as a geometry_msgs::Pose.

Returns:: This transform as a Pose.

Definition at line 69 of file transform.cpp.

transform_graph::Position transform_graph::Transform::position ( ) const

Returns the position component of this transform.

Returns:: The position component of this transform.

Definition at line 53 of file transform.cpp.

tf::Transform transform_graph::Transform::tf_transform ( ) const

Returns this transform as a tf::Transform.

Returns:: This transform as a tf::Transform.

Definition at line 63 of file transform.cpp.

void transform_graph::Transform::ToPose ( geometry_msgs::Pose * pose ) const

Returns this transform as a geometry_msgs::Pose.

Deprecated:

Returns:: This transform as a Pose.

Definition at line 85 of file transform.cpp.

geometry_msgs::Transform transform_graph::Transform::transform ( ) const

Returns this transform as a geometry_msgs::Pose.

Returns:: This transform as a Pose.

Definition at line 75 of file transform.cpp.

Member Data Documentation

Eigen::Affine3d transform_graph::Transform::transform_ [private]

Definition at line 89 of file transform.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation