#include <Transform.h>
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Transform | clone () const |
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float * | data () |
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const float * | data () const |
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const cv::Mat & | dataMatrix () const |
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float | getAngle (float x=1.0f, float y=0.0f, float z=0.0f) const |
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float | getDistance (const Transform &t) const |
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float | getDistanceSquared (const Transform &t) const |
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void | getEulerAngles (float &roll, float &pitch, float &yaw) const |
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float | getNorm () const |
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float | getNormSquared () const |
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Eigen::Quaterniond | getQuaterniond () const |
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Eigen::Quaternionf | getQuaternionf () const |
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void | getTranslation (float &x, float &y, float &z) const |
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void | getTranslationAndEulerAngles (float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const |
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Transform | interpolate (float t, const Transform &other) const |
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Transform | inverse () const |
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bool | is3DoF () const |
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bool | is4DoF () const |
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bool | isIdentity () const |
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bool | isInvertible () const |
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bool | isNull () const |
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void | normalizeRotation () |
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float | o14 () const |
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float | o24 () const |
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float | o34 () const |
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bool | operator!= (const Transform &t) const |
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float & | operator() (int row, int col) |
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const float & | operator() (int row, int col) const |
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Transform | operator* (const Transform &t) const |
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Transform & | operator*= (const Transform &t) |
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bool | operator== (const Transform &t) const |
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float & | operator[] (int index) |
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const float & | operator[] (int index) const |
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std::string | prettyPrint () const |
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float | r11 () const |
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float | r12 () const |
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float | r13 () const |
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float | r21 () const |
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float | r22 () const |
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float | r23 () const |
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float | r31 () const |
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float | r32 () const |
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float | r33 () const |
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Transform | rotation () const |
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cv::Mat | rotationMatrix () const |
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void | setIdentity () |
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void | setNull () |
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int | size () const |
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float | theta () const |
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Transform | to3DoF () const |
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Transform | to4DoF () const |
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Eigen::Affine3d | toEigen3d () const |
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Eigen::Affine3f | toEigen3f () const |
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Eigen::Matrix4d | toEigen4d () const |
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Eigen::Matrix4f | toEigen4f () const |
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| Transform () |
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| Transform (const cv::Mat &transformationMatrix) |
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| Transform (float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34) |
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| Transform (float x, float y, float theta) |
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| Transform (float x, float y, float z, float qx, float qy, float qz, float qw) |
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| Transform (float x, float y, float z, float roll, float pitch, float yaw) |
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Transform | translation () const |
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cv::Mat | translationMatrix () const |
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float & | x () |
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const float & | x () const |
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float & | y () |
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const float & | y () const |
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float & | z () |
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const float & | z () const |
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Definition at line 41 of file Transform.h.
◆ Transform() [1/6]
rtabmap::Transform::Transform |
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◆ Transform() [2/6]
rtabmap::Transform::Transform |
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float |
r11, |
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float |
r12, |
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float |
r13, |
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float |
o14, |
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float |
r21, |
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float |
r22, |
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float |
r23, |
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float |
o24, |
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float |
r31, |
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float |
r32, |
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float |
r33, |
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float |
o34 |
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) |
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◆ Transform() [3/6]
rtabmap::Transform::Transform |
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const cv::Mat & |
transformationMatrix | ) |
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◆ Transform() [4/6]
◆ Transform() [5/6]
◆ Transform() [6/6]
◆ canParseString()
bool rtabmap::Transform::canParseString |
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const std::string & |
string | ) |
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static |
Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
Definition at line 524 of file Transform.cpp.
◆ clone()
Transform rtabmap::Transform::clone |
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const |
◆ data() [1/2]
float* rtabmap::Transform::data |
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◆ data() [2/2]
const float* rtabmap::Transform::data |
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const |
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◆ dataMatrix()
const cv::Mat& rtabmap::Transform::dataMatrix |
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const |
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◆ fromEigen3d() [1/3]
◆ fromEigen3d() [2/3]
◆ fromEigen3d() [3/3]
◆ fromEigen3f() [1/3]
◆ fromEigen3f() [2/3]
◆ fromEigen3f() [3/3]
◆ fromEigen4d()
Transform rtabmap::Transform::fromEigen4d |
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const Eigen::Matrix4d & |
matrix | ) |
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◆ fromEigen4f()
Transform rtabmap::Transform::fromEigen4f |
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const Eigen::Matrix4f & |
matrix | ) |
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◆ fromString()
Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
Definition at line 475 of file Transform.cpp.
◆ getAngle()
◆ getClosestTransform()
Transform rtabmap::Transform::getClosestTransform |
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const std::map< double, Transform > & |
tfBuffer, |
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const double & |
stamp, |
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double * |
stampDiff |
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) |
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◆ getDistance()
◆ getDistanceSquared()
float rtabmap::Transform::getDistanceSquared |
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const Transform & |
t | ) |
const |
◆ getEulerAngles()
void rtabmap::Transform::getEulerAngles |
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float & |
roll, |
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float & |
pitch, |
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float & |
yaw |
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) |
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◆ getIdentity()
Transform rtabmap::Transform::getIdentity |
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◆ getNorm()
float rtabmap::Transform::getNorm |
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const |
◆ getNormSquared()
float rtabmap::Transform::getNormSquared |
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const |
◆ getQuaterniond()
◆ getQuaternionf()
◆ getTransform()
Transform rtabmap::Transform::getTransform |
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const std::map< double, Transform > & |
tfBuffer, |
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const double & |
stamp |
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) |
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◆ getTranslation()
void rtabmap::Transform::getTranslation |
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float & |
x, |
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float & |
y, |
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float & |
z |
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) |
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◆ getTranslationAndEulerAngles()
◆ interpolate()
◆ inverse()
Transform rtabmap::Transform::inverse |
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const |
◆ is3DoF()
bool rtabmap::Transform::is3DoF |
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const |
◆ is4DoF()
bool rtabmap::Transform::is4DoF |
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const |
◆ isIdentity()
bool rtabmap::Transform::isIdentity |
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const |
◆ isInvertible()
bool rtabmap::Transform::isInvertible |
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const |
◆ isNull()
bool rtabmap::Transform::isNull |
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const |
◆ normalizeRotation()
void rtabmap::Transform::normalizeRotation |
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◆ o14()
float rtabmap::Transform::o14 |
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const |
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◆ o24()
float rtabmap::Transform::o24 |
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const |
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◆ o34()
float rtabmap::Transform::o34 |
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const |
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◆ opengl_T_rtabmap()
static Transform rtabmap::Transform::opengl_T_rtabmap |
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inlinestatic |
◆ operator!=()
◆ operator()() [1/2]
float& rtabmap::Transform::operator() |
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int |
row, |
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int |
col |
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) |
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◆ operator()() [2/2]
const float& rtabmap::Transform::operator() |
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int |
row, |
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int |
col |
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inline |
◆ operator*()
◆ operator*=()
◆ operator==()
bool rtabmap::Transform::operator== |
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const Transform & |
t | ) |
const |
◆ operator[]() [1/2]
float& rtabmap::Transform::operator[] |
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int |
index | ) |
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inline |
◆ operator[]() [2/2]
const float& rtabmap::Transform::operator[] |
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int |
index | ) |
const |
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inline |
◆ prettyPrint()
◆ r11()
float rtabmap::Transform::r11 |
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const |
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◆ r12()
float rtabmap::Transform::r12 |
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const |
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◆ r13()
float rtabmap::Transform::r13 |
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const |
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◆ r21()
float rtabmap::Transform::r21 |
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const |
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◆ r22()
float rtabmap::Transform::r22 |
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const |
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◆ r23()
float rtabmap::Transform::r23 |
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const |
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◆ r31()
float rtabmap::Transform::r31 |
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const |
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◆ r32()
float rtabmap::Transform::r32 |
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const |
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inline |
◆ r33()
float rtabmap::Transform::r33 |
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const |
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inline |
◆ rotation()
Transform rtabmap::Transform::rotation |
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const |
◆ rotationMatrix()
cv::Mat rtabmap::Transform::rotationMatrix |
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const |
◆ rtabmap_T_opengl()
static Transform rtabmap::Transform::rtabmap_T_opengl |
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inlinestatic |
◆ setIdentity()
void rtabmap::Transform::setIdentity |
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◆ setNull()
void rtabmap::Transform::setNull |
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◆ size()
int rtabmap::Transform::size |
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const |
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inline |
◆ theta()
float rtabmap::Transform::theta |
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const |
◆ to3DoF()
Transform rtabmap::Transform::to3DoF |
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const |
◆ to4DoF()
Transform rtabmap::Transform::to4DoF |
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const |
◆ toEigen3d()
◆ toEigen3f()
◆ toEigen4d()
Eigen::Matrix4d rtabmap::Transform::toEigen4d |
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const |
◆ toEigen4f()
Eigen::Matrix4f rtabmap::Transform::toEigen4f |
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const |
◆ translation()
Transform rtabmap::Transform::translation |
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const |
◆ translationMatrix()
cv::Mat rtabmap::Transform::translationMatrix |
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const |
◆ x() [1/2]
float& rtabmap::Transform::x |
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inline |
◆ x() [2/2]
const float& rtabmap::Transform::x |
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const |
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◆ y() [1/2]
float& rtabmap::Transform::y |
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inline |
◆ y() [2/2]
const float& rtabmap::Transform::y |
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const |
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inline |
◆ z() [1/2]
float& rtabmap::Transform::z |
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inline |
◆ z() [2/2]
const float& rtabmap::Transform::z |
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const |
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inline |
◆ data_
The documentation for this class was generated from the following files: