swri_transform_util::Transform Class Reference

An abstraction of the tf::Transform class to support transforms in addition to the rigid transforms supported by tf. More...

#include <transform.h>

List of all members.

Public Member Functions
tf::Quaternion	GetOrientation () const
	Get the orientation (rotation component) of the transform.
tf::Vector3	GetOrigin () const
	Get the origin (translation component) of the transform.
ros::Time	GetStamp ()
	Get the time stamp of the transform.
tf::Transform	GetTF () const
	Return a TF transform equivalent to this transform.
Transform	Inverse () const
	Return the inverse transform.
tf::Vector3	operator() (const tf::Vector3 &v) const
	Apply the transform to a vector and return the result.
tf::Vector3	operator* (const tf::Vector3 &v) const
	Apply the transform to a vector and return the result.
tf::Quaternion	operator* (const tf::Quaternion &q) const
	Apply the transform to a quaternion and return the result.
Transform &	operator= (const tf::Transform transform)
	Assignment operator for tf::Transform.
Transform &	operator= (boost::shared_ptr< TransformImpl > transform)
	Assignment operator for TransformImpl.
	Transform ()
	Generates an identity transform.
	Transform (const tf::Transform &transform)
	Generates a standard rigid transform from a tf::Transform.
	Transform (const tf::StampedTransform &transform)
	Generates a standard rigid transform from a tf::Transform.
	Transform (boost::shared_ptr< TransformImpl > transform)
	Defines the transform using an arbitrary transform implementation.
Private Attributes
boost::shared_ptr< TransformImpl >	transform_
	Pointer to the implementation of the transform.

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Detailed Description

An abstraction of the tf::Transform class to support transforms in addition to the rigid transforms supported by tf.

Additional transforms are implemented through transformer plug-ins.

It can be used in conjunction with the tf::Vector3 data type.

Definition at line 105 of file transform.h.

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Constructor & Destructor Documentation

swri_transform_util::Transform::Transform

(

)

Generates an identity transform.

swri_transform_util::Transform::Transform

(

const tf::Transform &

transform

)

[explicit]

Generates a standard rigid transform from a tf::Transform.

Parameters:

[in]

transform

The input transform.

swri_transform_util::Transform::Transform

(

const tf::StampedTransform &

transform

)

[explicit]

Generates a standard rigid transform from a tf::Transform.

Parameters:

[in]

transform

The input transform.

swri_transform_util::Transform::Transform

(

boost::shared_ptr< TransformImpl >

transform

)

[explicit]

Defines the transform using an arbitrary transform implementation.

Parameters:

[in]

transform

The input transform implementation.

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Member Function Documentation

tf::Quaternion swri_transform_util::Transform::GetOrientation

(

)

const

Get the orientation (rotation component) of the transform.

Returns:

The orientation (translation component) of the transform

tf::Vector3 swri_transform_util::Transform::GetOrigin

(

)

const

Get the origin (translation component) of the transform.

The result of this should always be equal to applying the transform to the vector (0, 0, 0).

Returns:

The origin (translation component) of the transform

ros::Time swri_transform_util::Transform::GetStamp

(

)

[inline]

Get the time stamp of the transform.

Returns:

The time stamp of the transform

Definition at line 214 of file transform.h.

tf::Transform swri_transform_util::Transform::GetTF

(

)

const

Return a TF transform equivalent to this transform.

Returns:

The equivalent tf::Transform

Transform swri_transform_util::Transform::Inverse

(

)

const

Return the inverse transform.

Returns:

The inverse transform.

tf::Vector3 swri_transform_util::Transform::operator()

(

const tf::Vector3 &

v

)

const

Apply the transform to a vector and return the result.

Parameters:

[in]

v

The vector.

Returns:

The transformed vector.

tf::Vector3 swri_transform_util::Transform::operator*

(

const tf::Vector3 &

v

)

const

Apply the transform to a vector and return the result.

Parameters:

[in]

v

The vector.

Returns:

The transformed vector.

tf::Quaternion swri_transform_util::Transform::operator*

(

const tf::Quaternion &

q

)

const

Apply the transform to a quaternion and return the result.

Parameters:

[in]

q

The quaternion.

Returns:

The transformed quaternion.

Transform& swri_transform_util::Transform::operator=

(

const tf::Transform

transform

)

Assignment operator for tf::Transform.

Generates a standard rigid transform from a tf::Transform.

Parameters:

[in]

transform

The input transform.

Transform& swri_transform_util::Transform::operator=

(

boost::shared_ptr< TransformImpl >

transform

)

Assignment operator for TransformImpl.

Note: The transform implementation is only a shallow copy.

Parameters:

[in]

transform

The input transform.

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Member Data Documentation

boost::shared_ptr<TransformImpl> swri_transform_util::Transform::transform_ [private]

Pointer to the implementation of the transform.

Definition at line 218 of file transform.h.

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

• transform.h