tfjava::TransformStorage Class Reference

List of all members.

Public Member Functions

Frame getChildFrame ()
Frame getParentFrame ()
Quat4d getRotation ()
long getTimeStamp ()
Vector3d getTranslation ()
String toString ()
 TransformStorage (Vector3d translation, Quat4d rotation, long timeStamp, Frame parentFrame, Frame childFrame)

Static Public Member Functions

static TransformStorage interpolate (TransformStorage t1, TransformStorage t2, long time)

Protected Attributes

Frame childFrame
Frame parentFrame
Quat4d rotation
long timeStamp
Vector3d translation

Detailed Description

Transformation stamped with time, frame ID and child frame ID, as it is stored in the buffer.

A transformation object of this class is internally represented by a translation vector and rotation quaternion. Since tf messages are also represented this way, no expensive conversion takes place if a tf is stored in the buffer. Once a transform of this type is needed for actual transformation, it is converted to a StampedTransform object that is represented by a 4x4 matrix.

Sjoerd van den Dries
March 3, 2011

Definition at line 48 of file

Constructor & Destructor Documentation

tfjava::TransformStorage::TransformStorage ( Vector3d  translation,
Quat4d  rotation,
long  timeStamp,
Frame  parentFrame,
Frame  childFrame 
) [inline]

Class constructor.

Definition at line 64 of file

Member Function Documentation

Frame tfjava::TransformStorage::getChildFrame (  )  [inline]

Returns a reference to the child (i.e., target) frame

Definition at line 104 of file

Frame tfjava::TransformStorage::getParentFrame (  )  [inline]

Returns a reference to the parent (i.e., source) frame

Definition at line 111 of file

Quat4d tfjava::TransformStorage::getRotation (  )  [inline]

Returns the rotation quaternion

Definition at line 132 of file

long tfjava::TransformStorage::getTimeStamp (  )  [inline]

Returns the time stamp of this transform, in nanoseconds.

Definition at line 118 of file

Vector3d tfjava::TransformStorage::getTranslation (  )  [inline]

Returns the translation vector

Definition at line 125 of file

static TransformStorage tfjava::TransformStorage::interpolate ( TransformStorage  t1,
TransformStorage  t2,
long  time 
) [inline, static]

Returns a new TransformStorage object that is an interpolation between or (forward or backward) extrapolation from t1 and t2.

Definition at line 76 of file

String tfjava::TransformStorage::toString (  )  [inline]

Returns a string representation of this transform

Definition at line 139 of file

Member Data Documentation

Reference to the child frame (source frame)

Definition at line 53 of file

Reference to the parent frame (source frame)

Definition at line 51 of file

Rotation quaternion

Definition at line 59 of file

Time stamp in nanoseconds

Definition at line 55 of file

Translation vector

Definition at line 57 of file

The documentation for this class was generated from the following file:
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Author(s): Sjoerd van den Dries
autogenerated on Fri Jan 11 09:59:03 2013