A class for easy storage and manipulation of Flock of Birds transform. More...
#include <matvec3D.h>
Public Member Functions | |
| transf | get (transf t) const |
| Get the object's GraspIt transform for a give flock transform read from the sensor. | |
| transf | get2 (transf t) const |
| Get the object transform in relative terms, but without factoring in a mount transform. | |
| transf | getAbsolute (transf t) const |
| Get the object's GraspIt transform if we are operating in absolute terms. | |
| transf | getMount () const |
| void | identity () |
| void | setFlockBase (transf t) |
| Set the base flock transform, that all subsequent flock transforms are relative to. | |
| void | setMount (transf t) |
| Set the tranform from object origin to sensor mounting location. | |
| void | setObjectBase (transf t) |
| Set the base object transform, the one that corresponds to the base flock trasnform. | |
Private Attributes | |
| transf | flockBaseInv |
| transf | mount |
| transf | mountInv |
| transf | objBase |
A class for easy storage and manipulation of Flock of Birds transform.
A Flock of Birds transform, when applied to a robot or object in GraspIt! has to take into account where the sensor is mounted on the robot. It must also be able to use the flock transform in relative terms, so we get the movement of the GraspIt body, but not in absolute terms. This class stores all of that conveniently.
Assume that, at the moment where we start measuring, the object's transform is Ob and the Flock transform ir Fb. The transform from object origin to sensor mount location is M.
At a given time, we read from the Flock sensor the transform F. What is the correct GraspIt transform for the body?
Definition at line 523 of file matvec3D.h.
Get the object's GraspIt transform for a give flock transform read from the sensor.
Definition at line 591 of file matvec.cpp.
Get the object transform in relative terms, but without factoring in a mount transform.
Does not multiply with the mount transform. It is meant to use with camera, and we assume we already have the camera mount built into the objectBase.
Definition at line 605 of file matvec.cpp.
Get the object's GraspIt transform if we are operating in absolute terms.
Definition at line 596 of file matvec.cpp.
| transf FlockTransf::getMount | ( | ) | const [inline] |
Definition at line 542 of file matvec3D.h.
| void FlockTransf::identity | ( | ) |
Definition at line 583 of file matvec.cpp.
| void FlockTransf::setFlockBase | ( | transf | t | ) | [inline] |
Set the base flock transform, that all subsequent flock transforms are relative to.
Definition at line 533 of file matvec3D.h.
| void FlockTransf::setMount | ( | transf | t | ) | [inline] |
Set the tranform from object origin to sensor mounting location.
Definition at line 531 of file matvec3D.h.
| void FlockTransf::setObjectBase | ( | transf | t | ) | [inline] |
Set the base object transform, the one that corresponds to the base flock trasnform.
Definition at line 535 of file matvec3D.h.
transf FlockTransf::flockBaseInv [private] |
Definition at line 526 of file matvec3D.h.
transf FlockTransf::mount [private] |
Definition at line 525 of file matvec3D.h.
transf FlockTransf::mountInv [private] |
Definition at line 525 of file matvec3D.h.
transf FlockTransf::objBase [private] |
Definition at line 526 of file matvec3D.h.
