An abstraction of the tf::Transform class to support transforms in addition to the rigid transforms supported by tf. More...
#include <transform.h>
Public Member Functions | |
tf::Quaternion | GetOrientation () const |
Get the orientation (rotation component) of the transform. More... | |
tf::Vector3 | GetOrigin () const |
Get the origin (translation component) of the transform. More... | |
ros::Time | GetStamp () |
Get the time stamp of the transform. More... | |
tf::Transform | GetTF () const |
Return a TF transform equivalent to this transform. More... | |
Transform | Inverse () const |
Return the inverse transform. More... | |
tf::Vector3 | operator() (const tf::Vector3 &v) const |
Apply the transform to a vector and return the result. More... | |
tf::Vector3 | operator* (const tf::Vector3 &v) const |
Apply the transform to a vector and return the result. More... | |
tf::Quaternion | operator* (const tf::Quaternion &q) const |
Apply the transform to a quaternion and return the result. More... | |
Transform & | operator= (const tf::Transform transform) |
Assignment operator for tf::Transform. More... | |
Transform & | operator= (boost::shared_ptr< TransformImpl > transform) |
Assignment operator for TransformImpl. More... | |
Transform () | |
Generates an identity transform. More... | |
Transform (const tf::Transform &transform) | |
Generates a standard rigid transform from a tf::Transform. More... | |
Transform (const tf::StampedTransform &transform) | |
Generates a standard rigid transform from a tf::Transform. More... | |
Transform (boost::shared_ptr< TransformImpl > transform) | |
Defines the transform using an arbitrary transform implementation. More... | |
Private Attributes | |
boost::shared_ptr< TransformImpl > | transform_ |
Pointer to the implementation of the transform. More... | |
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.
swri_transform_util::Transform::Transform | ( | ) |
Generates an identity transform.
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explicit |
Generates a standard rigid transform from a tf::Transform.
[in] | transform | The input transform. |
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explicit |
Generates a standard rigid transform from a tf::Transform.
[in] | transform | The input transform. |
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explicit |
Defines the transform using an arbitrary transform implementation.
[in] | transform | The input transform implementation. |
tf::Quaternion swri_transform_util::Transform::GetOrientation | ( | ) | const |
Get the orientation (rotation 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).
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inline |
Get 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.
Transform swri_transform_util::Transform::Inverse | ( | ) | const |
Return 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.
[in] | v | The vector. |
tf::Vector3 swri_transform_util::Transform::operator* | ( | const tf::Vector3 & | v | ) | const |
Apply the transform to a vector and return the result.
[in] | v | The vector. |
tf::Quaternion swri_transform_util::Transform::operator* | ( | const tf::Quaternion & | q | ) | const |
Apply the transform to a quaternion and return the result.
[in] | q | The 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.
[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.
[in] | transform | The input transform. |
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private |
Pointer to the implementation of the transform.
Definition at line 218 of file transform.h.