Classes
class	Rigid2

class	Rigid3

struct	TimestampedTransform

class	TransformInterpolationBuffer

Typedefs
using	Rigid2d = Rigid2< double >

using	Rigid2f = Rigid2< float >

using	Rigid3d = Rigid3< double >

using	Rigid3f = Rigid3< float >

Functions
template<typename T >
Eigen::Quaternion< T >	AngleAxisVectorToRotationQuaternion (const Eigen::Matrix< T, 3, 1 > &angle_axis)

template<typename T >
Rigid3< T >	Embed3D (const Rigid2< T > &transform)

transform::Rigid3d	FromDictionary (common::LuaParameterDictionary *dictionary)

template<typename FloatType >
FloatType	GetAngle (const Rigid3< FloatType > &transform)

template<typename T >
T	GetYaw (const Eigen::Quaternion< T > &rotation)

template<typename T >
T	GetYaw (const Rigid3< T > &transform)

TimestampedTransform	Interpolate (const TimestampedTransform &start, const TimestampedTransform &end, const common::Time time)

	MATCHER_P2 (IsNearly, rigid, epsilon, std::string(std::string(negation ? "isn't nearly " :"is nearly ")+rigid.DebugString()))

template<typename FloatType >
Rigid2< FloatType >	operator* (const Rigid2< FloatType > &lhs, const Rigid2< FloatType > &rhs)

template<typename FloatType >
Rigid2< FloatType >::Vector	operator* (const Rigid2< FloatType > &rigid, const typename Rigid2< FloatType >::Vector &point)

template<typename FloatType >
Rigid3< FloatType >	operator* (const Rigid3< FloatType > &lhs, const Rigid3< FloatType > &rhs)

template<typename FloatType >
Rigid3< FloatType >::Vector	operator* (const Rigid3< FloatType > &rigid, const typename Rigid3< FloatType >::Vector &point)

template<typename T >
std::ostream &	operator<< (std::ostream &os, const cartographer::transform::Rigid2< T > &rigid)

template<typename T >
std::ostream &	operator<< (std::ostream &os, const cartographer::transform::Rigid3< T > &rigid)

template<typename T >
Rigid2< T >	Project2D (const Rigid3< T > &transform)

Eigen::Quaterniond	RollPitchYaw (const double roll, const double pitch, const double yaw)

template<typename T >
Eigen::Matrix< T, 3, 1 >	RotationQuaternionToAngleAxisVector (const Eigen::Quaternion< T > &quaternion)

Eigen::Vector2d	ToEigen (const proto::Vector2d &vector)

Eigen::Vector3f	ToEigen (const proto::Vector3f &vector)

template<typename T >
Eigen::Transform< T, 2, Eigen::Affine >	ToEigen (const Rigid2< T > &rigid2)

Eigen::Vector4f	ToEigen (const proto::Vector4f &vector)

template<typename T >
Eigen::Transform< T, 3, Eigen::Affine >	ToEigen (const Rigid3< T > &rigid3)

Eigen::Vector3d	ToEigen (const proto::Vector3d &vector)

Eigen::Quaterniond	ToEigen (const proto::Quaterniond &quaternion)

proto::Rigid2d	ToProto (const transform::Rigid2d &transform)

proto::Rigid2f	ToProto (const transform::Rigid2f &transform)

proto::Rigid3d	ToProto (const transform::Rigid3d &rigid)

proto::Rigid3f	ToProto (const transform::Rigid3f &rigid)

proto::Vector2d	ToProto (const Eigen::Vector2d &vector)

proto::Vector3f	ToProto (const Eigen::Vector3f &vector)

proto::Vector4f	ToProto (const Eigen::Vector4f &vector)

proto::Vector3d	ToProto (const Eigen::Vector3d &vector)

proto::Quaternionf	ToProto (const Eigen::Quaternionf &quaternion)

proto::Quaterniond	ToProto (const Eigen::Quaterniond &quaternion)

Rigid2d	ToRigid2 (const proto::Rigid2d &transform)

transform::Rigid3d	ToRigid3 (const proto::Rigid3d &rigid)

Typedef Documentation

◆ Rigid2d

using cartographer::transform::Rigid2d = typedef Rigid2<double>

Definition at line 119 of file rigid_transform.h.

◆ Rigid2f

using cartographer::transform::Rigid2f = typedef Rigid2<float>

Definition at line 120 of file rigid_transform.h.

◆ Rigid3d

using cartographer::transform::Rigid3d = typedef Rigid3<double>

Definition at line 225 of file rigid_transform.h.

◆ Rigid3f

using cartographer::transform::Rigid3f = typedef Rigid3<float>

Definition at line 226 of file rigid_transform.h.

Function Documentation

◆ AngleAxisVectorToRotationQuaternion()

template<typename T >

Eigen::Quaternion<T> cartographer::transform::AngleAxisVectorToRotationQuaternion ( const Eigen::Matrix< T, 3, 1 > & angle_axis )

Definition at line 86 of file transform.h.

◆ Embed3D()

template<typename T >

Rigid3<T> cartographer::transform::Embed3D ( const Rigid2< T > & transform )

Definition at line 110 of file transform.h.

◆ FromDictionary()

Rigid3d cartographer::transform::FromDictionary ( common::LuaParameterDictionary * dictionary )

Definition at line 48 of file rigid_transform.cc.

◆ GetAngle()

template<typename FloatType >

FloatType cartographer::transform::GetAngle ( const Rigid3< FloatType > & transform )

Definition at line 34 of file transform.h.

◆ GetYaw() [1/2]

template<typename T >

T cartographer::transform::GetYaw ( const Eigen::Quaternion< T > & rotation )

Definition at line 43 of file transform.h.

◆ GetYaw() [2/2]

template<typename T >

T cartographer::transform::GetYaw ( const Rigid3< T > & transform )

Definition at line 52 of file transform.h.

◆ Interpolate()

TimestampedTransform cartographer::transform::Interpolate	(	const TimestampedTransform &	start,
		const TimestampedTransform &	end,
		const common::Time	time
	)

Definition at line 22 of file timestamped_transform.cc.

◆ MATCHER_P2()

cartographer::transform::MATCHER_P2	(	IsNearly	,
		rigid	,
		epsilon	,
		std::string(std::string(negation ? "isn't nearly " :"is nearly ")+ rigid.DebugString())
	)

Definition at line 42 of file rigid_transform_test_helpers.h.

◆ operator*() [1/4]

template<typename FloatType >

Rigid2<FloatType> cartographer::transform::operator*	(	const Rigid2< FloatType > &	lhs,
		const Rigid2< FloatType > &	rhs
	)

Definition at line 97 of file rigid_transform.h.

◆ operator*() [2/4]

template<typename FloatType >

Rigid2<FloatType>::Vector cartographer::transform::operator*	(	const Rigid2< FloatType > &	rigid,
		const typename Rigid2< FloatType >::Vector &	point
	)

Definition at line 105 of file rigid_transform.h.

◆ operator*() [3/4]

template<typename FloatType >

Rigid3<FloatType> cartographer::transform::operator*	(	const Rigid3< FloatType > &	lhs,
		const Rigid3< FloatType > &	rhs
	)

Definition at line 203 of file rigid_transform.h.

◆ operator*() [4/4]

template<typename FloatType >

Rigid3<FloatType>::Vector cartographer::transform::operator*	(	const Rigid3< FloatType > &	rigid,
		const typename Rigid3< FloatType >::Vector &	point
	)

Definition at line 211 of file rigid_transform.h.

◆ operator<<() [1/2]

template<typename T >

std::ostream& cartographer::transform::operator<<	(	std::ostream &	os,
		const cartographer::transform::Rigid2< T > &	rigid
	)

Definition at line 113 of file rigid_transform.h.

◆ operator<<() [2/2]

template<typename T >

std::ostream& cartographer::transform::operator<<	(	std::ostream &	os,
		const cartographer::transform::Rigid3< T > &	rigid
	)

Definition at line 219 of file rigid_transform.h.

◆ Project2D()

template<typename T >

Rigid2<T> cartographer::transform::Project2D ( const Rigid3< T > & transform )

Definition at line 103 of file transform.h.

◆ RollPitchYaw()

Eigen::Quaterniond cartographer::transform::RollPitchYaw	(	const double	roll,
		const double	pitch,
		const double	yaw
	)

Definition at line 40 of file rigid_transform.cc.

◆ RotationQuaternionToAngleAxisVector()

template<typename T >

Eigen::Matrix<T, 3, 1> cartographer::transform::RotationQuaternionToAngleAxisVector ( const Eigen::Quaternion< T > & quaternion )

Definition at line 60 of file transform.h.

◆ ToEigen() [1/7]

Eigen::Vector2d cartographer::transform::ToEigen ( const proto::Vector2d & vector )

Definition at line 27 of file transform.cc.

◆ ToEigen() [2/7]

Eigen::Vector3f cartographer::transform::ToEigen ( const proto::Vector3f & vector )

Definition at line 31 of file transform.cc.

◆ ToEigen() [3/7]

template<typename T >

Eigen::Transform<T, 2, Eigen::Affine> cartographer::transform::ToEigen ( const Rigid2< T > & rigid2 )

Definition at line 33 of file rigid_transform_test_helpers.h.

◆ ToEigen() [4/7]

Eigen::Vector4f cartographer::transform::ToEigen ( const proto::Vector4f & vector )

Definition at line 35 of file transform.cc.

◆ ToEigen() [5/7]

template<typename T >

Eigen::Transform<T, 3, Eigen::Affine> cartographer::transform::ToEigen ( const Rigid3< T > & rigid3 )

Definition at line 38 of file rigid_transform_test_helpers.h.

◆ ToEigen() [6/7]

Eigen::Vector3d cartographer::transform::ToEigen ( const proto::Vector3d & vector )

Definition at line 39 of file transform.cc.

◆ ToEigen() [7/7]

Eigen::Quaterniond cartographer::transform::ToEigen ( const proto::Quaterniond & quaternion )

Definition at line 43 of file transform.cc.

◆ ToProto() [1/10]

proto::Rigid2d cartographer::transform::ToProto ( const transform::Rigid2d & transform )

Definition at line 48 of file transform.cc.

◆ ToProto() [2/10]

proto::Rigid2f cartographer::transform::ToProto ( const transform::Rigid2f & transform )

Definition at line 56 of file transform.cc.

◆ ToProto() [3/10]

proto::Rigid3d cartographer::transform::ToProto ( const transform::Rigid3d & rigid )

Definition at line 64 of file transform.cc.

◆ ToProto() [4/10]

proto::Rigid3f cartographer::transform::ToProto ( const transform::Rigid3f & rigid )

Definition at line 76 of file transform.cc.

◆ ToProto() [5/10]

proto::Vector2d cartographer::transform::ToProto ( const Eigen::Vector2d & vector )

Definition at line 83 of file transform.cc.

◆ ToProto() [6/10]

proto::Vector3f cartographer::transform::ToProto ( const Eigen::Vector3f & vector )

Definition at line 90 of file transform.cc.

◆ ToProto() [7/10]

proto::Vector4f cartographer::transform::ToProto ( const Eigen::Vector4f & vector )

Definition at line 98 of file transform.cc.

◆ ToProto() [8/10]

proto::Vector3d cartographer::transform::ToProto ( const Eigen::Vector3d & vector )

Definition at line 107 of file transform.cc.

◆ ToProto() [9/10]

proto::Quaternionf cartographer::transform::ToProto ( const Eigen::Quaternionf & quaternion )

Definition at line 115 of file transform.cc.

◆ ToProto() [10/10]

proto::Quaterniond cartographer::transform::ToProto ( const Eigen::Quaterniond & quaternion )

Definition at line 124 of file transform.cc.

◆ ToRigid2()

Rigid2d cartographer::transform::ToRigid2 ( const proto::Rigid2d & transform )

Definition at line 22 of file transform.cc.

◆ ToRigid3()

Rigid3d cartographer::transform::ToRigid3 ( const proto::Rigid3d & rigid )

Definition at line 71 of file transform.cc.

Classes

Typedefs

Functions

Typedef Documentation

◆ Rigid2d

◆ Rigid2f

◆ Rigid3d

◆ Rigid3f

Function Documentation

◆ AngleAxisVectorToRotationQuaternion()

◆ Embed3D()

◆ FromDictionary()

◆ GetAngle()

◆ GetYaw() [1/2]

◆ GetYaw() [2/2]

◆ Interpolate()

◆ MATCHER_P2()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ Project2D()

◆ RollPitchYaw()

◆ RotationQuaternionToAngleAxisVector()

◆ ToEigen() [1/7]

◆ ToEigen() [2/7]

◆ ToEigen() [3/7]

◆ ToEigen() [4/7]

◆ ToEigen() [5/7]

◆ ToEigen() [6/7]

◆ ToEigen() [7/7]

◆ ToProto() [1/10]

◆ ToProto() [2/10]

◆ ToProto() [3/10]

◆ ToProto() [4/10]

◆ ToProto() [5/10]

◆ ToProto() [6/10]

◆ ToProto() [7/10]

◆ ToProto() [8/10]

◆ ToProto() [9/10]

◆ ToProto() [10/10]

◆ ToRigid2()

◆ ToRigid3()