tfjava.StampedTransform Class Reference

List of all members.

Public Member Functions
Matrix4d	getMatrix4 ()
Quat4d	getRotation ()
void	getRotation (Quat4d out)
Vector3d	getTranslation ()
void	getTranslation (Vector3d out)
StampedTransform	invert ()
void	mul (StampedTransform t1)
void	mul (StampedTransform t1, StampedTransform t2)
	StampedTransform (Vector3d translation, Quat4d rotation, Time timeStamp, String frameID, String childFrameID)
	StampedTransform (Matrix4d transform, Time timeStamp, String frameID, String childFrameID)
String	toString ()
void	transformPoint (Point3d point, Point3d pointOut)
void	transformPoint (Stamped< Point3d > stampedIn, Stamped< Point3d > stampedOut)
void	transformPose (Matrix4d pose, Matrix4d poseOut)
void	transformPose (Stamped< Matrix4d > stampedIn, Stamped< Matrix4d > stampedOut)
void	transformVector (Vector3d vector, Vector3d vectorOut)
void	transformVector (Stamped< Vector3d > stampedIn, Stamped< Vector3d > stampedOut)
Static Public Member Functions
static StampedTransform	getIdentity ()
Public Attributes
String	childFrameID
String	frameID
Time	timeStamp
Protected Attributes
Matrix4d	transform

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Detailed Description

Transformation stamped with time, frame ID and child frame ID.

A transformation object of this class is internally represented by a 4x4 matrix.

Author:

Sjoerd van den Dries

Version:

Feb 28, 2011

Definition at line 48 of file StampedTransform.java.

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Constructor & Destructor Documentation

tfjava.StampedTransform.StampedTransform	(	Vector3d	translation,
		Quat4d	rotation,
		Time	timeStamp,
		String	frameID,
		String	childFrameID
	)		[inline]

Class constructor.

Definition at line 62 of file StampedTransform.java.

tfjava.StampedTransform.StampedTransform	(	Matrix4d	transform,
		Time	timeStamp,
		String	frameID,
		String	childFrameID
	)		[inline]

Class constructor.

Definition at line 72 of file StampedTransform.java.

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Member Function Documentation

static StampedTransform tfjava.StampedTransform.getIdentity

(

)

[inline, static]

Returns an identity transformation object.

Definition at line 82 of file StampedTransform.java.

Matrix4d tfjava.StampedTransform.getMatrix4

(

)

[inline]

Returns the 4x4 matrix representing this transform.

Definition at line 210 of file StampedTransform.java.

Quat4d tfjava.StampedTransform.getRotation

(

)

[inline]

Calculates and returns the rotational component of this transform.

Definition at line 194 of file StampedTransform.java.

void tfjava.StampedTransform.getRotation

(

Quat4d

out

)

[inline]

Calculates and returns the rotational component of this transform in parameter out.

Definition at line 203 of file StampedTransform.java.

Vector3d tfjava.StampedTransform.getTranslation

(

)

[inline]

Calculates and returns the translational component of this transform.

Definition at line 179 of file StampedTransform.java.

void tfjava.StampedTransform.getTranslation

(

Vector3d

out

)

[inline]

Calculates and returns the translational component of this transform in parameter out.

Definition at line 188 of file StampedTransform.java.

StampedTransform tfjava.StampedTransform.invert

(

)

[inline]

Inverts this transformation in place.

Definition at line 91 of file StampedTransform.java.

void tfjava.StampedTransform.mul

(

StampedTransform

t1

)

[inline]

Sets the value of this transform to the result of multiplying itself with transform t1.

Definition at line 102 of file StampedTransform.java.

void tfjava.StampedTransform.mul	(	StampedTransform	t1,
		StampedTransform	t2
	)		[inline]

Sets the value of this transform to the result of multiplying t1 with t2.

Definition at line 110 of file StampedTransform.java.

String tfjava.StampedTransform.toString

(

)

[inline]

Returns a string that contains the values of this transform.

Definition at line 217 of file StampedTransform.java.

void tfjava.StampedTransform.transformPoint	(	Point3d	point,
		Point3d	pointOut
	)		[inline]

Transforms the point parameter with this transform and places the result into pointOut.

Definition at line 126 of file StampedTransform.java.

void tfjava.StampedTransform.transformPoint	(	Stamped< Point3d >	stampedIn,
		Stamped< Point3d >	stampedOut
	)		[inline]

Transforms the stamped point stampedIn with this transform and places the result into stampedOut.

Definition at line 153 of file StampedTransform.java.

void tfjava.StampedTransform.transformPose	(	Matrix4d	pose,
		Matrix4d	poseOut
	)		[inline]

Transforms the pose parameter with this transform and places the result into poseOut.

Definition at line 119 of file StampedTransform.java.

void tfjava.StampedTransform.transformPose	(	Stamped< Matrix4d >	stampedIn,
		Stamped< Matrix4d >	stampedOut
	)		[inline]

Transforms the stamped pose stampedIn with this transform and places the result into stampedOut.

Definition at line 140 of file StampedTransform.java.

void tfjava.StampedTransform.transformVector	(	Vector3d	vector,
		Vector3d	vectorOut
	)		[inline]

Transforms the vector parameter with this transform and places the result into vectorOut.

Definition at line 133 of file StampedTransform.java.

void tfjava.StampedTransform.transformVector	(	Stamped< Vector3d >	stampedIn,
		Stamped< Vector3d >	stampedOut
	)		[inline]

Transforms the stamped vector stampedIn with this transform and places the result into stampedOut.

Definition at line 166 of file StampedTransform.java.

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Member Data Documentation

String tfjava.StampedTransform.childFrameID

name of the child frame (target frame)

Definition at line 53 of file StampedTransform.java.

String tfjava.StampedTransform.frameID

name of the parent frame (source frame)

Definition at line 51 of file StampedTransform.java.

Time tfjava.StampedTransform.timeStamp

Time stamp

Definition at line 55 of file StampedTransform.java.

Matrix4d tfjava.StampedTransform.transform [protected]

Transformation matrix representing the transform

Definition at line 57 of file StampedTransform.java.

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

• StampedTransform.java