swri_transform_util::Transform Class Reference

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...

Detailed Description

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.

Constructor & Destructor Documentation

swri_transform_util::Transform::Transform

(

)

Generates an identity transform.

swri_transform_util::Transform::Transform ( const tf::Transform &  transform )

explicit

Generates a standard rigid transform from a tf::Transform.

Parameters

[in]

transform

The input transform.

swri_transform_util::Transform::Transform ( const tf::StampedTransform &  transform )

explicit

Generates a standard rigid transform from a tf::Transform.

Parameters

[in]

transform

The input transform.

swri_transform_util::Transform::Transform ( boost::shared_ptr< TransformImpl >  transform )

explicit

Defines the transform using an arbitrary transform implementation.

Parameters

[in]

transform

The input transform implementation.

Member Function Documentation

tf::Quaternion swri_transform_util::Transform::GetOrientation

(

)

const

Get the orientation (rotation component) of the transform.

Returns

The orientation (translation 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).

Returns

The origin (translation component) of the transform

ros::Time swri_transform_util::Transform::GetStamp ( )

inline

Get the time stamp of the transform.

Returns

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.

Returns

The equivalent tf::Transform

Transform swri_transform_util::Transform::Inverse

(

)

const

Return the inverse transform.

Returns

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.

Parameters

[in]

v

The vector.

Returns

The transformed vector.

tf::Vector3 swri_transform_util::Transform::operator*

(

const tf::Vector3 &

v

)

const

Apply the transform to a vector and return the result.

Parameters

[in]

v

The vector.

Returns

The transformed vector.

tf::Quaternion swri_transform_util::Transform::operator*

(

const tf::Quaternion &

q

)

const

Apply the transform to a quaternion and return the result.

Parameters

[in]

q

The quaternion.

Returns

The transformed 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.

Parameters

[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.

Parameters

[in]

transform

The input transform.

Member Data Documentation

boost::shared_ptr<TransformImpl> swri_transform_util::Transform::transform_

private

Pointer to the implementation of the transform.

Definition at line 218 of file transform.h.

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

• transform.h