karto::RigidBodyTransform Class Reference

#include <RigidBodyTransform.h>

Public Member Functions
karto::Pose2	InverseTransformPose (const karto::Pose2 &rSourcePose)
	RigidBodyTransform (const karto::Pose2 &rPose)
	RigidBodyTransform (const karto::Pose2 &rPose1, const karto::Pose2 &rPose2)
karto::Pose2	TransformPose (const karto::Pose2 &rSourcePose)

Private Member Functions
void	SetTransform (const karto::Pose2 &rPose1, const karto::Pose2 &rPose2)

Private Attributes
karto::Pose2	m_InvTransform
karto::Pose2	m_Transform

Detailed Description

Implementation of a Pose2 rigid body transform

Definition at line 36 of file RigidBodyTransform.h.

Constructor & Destructor Documentation

RigidBodyTransform() [1/2]

RigidBodyTransform::RigidBodyTransform

(

const karto::Pose2 &

rPose

)

Transformation from the origin to the given pose

Parameters

rPose

pose

Definition at line 27 of file RigidBodyTransform.cpp.

RigidBodyTransform() [2/2]

RigidBodyTransform::RigidBodyTransform	(	const karto::Pose2 &	rPose1,
		const karto::Pose2 &	rPose2
	)

Transformation from the first pose to the second pose

Parameters

rPose1	first pose
rPose2	second pose

Definition at line 32 of file RigidBodyTransform.cpp.

Member Function Documentation

InverseTransformPose()

karto::Pose2 RigidBodyTransform::InverseTransformPose

(

const karto::Pose2 &

rSourcePose

)

Inverse transformation of the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 68 of file RigidBodyTransform.cpp.

SetTransform()

void RigidBodyTransform::SetTransform ( const karto::Pose2 &  rPose1, const karto::Pose2 &  rPose2  )

private

Sets this to be the transformation from the first pose to the second pose

Parameters

rPose1	first pose
rPose2	second pose

Definition at line 37 of file RigidBodyTransform.cpp.

TransformPose()

karto::Pose2 RigidBodyTransform::TransformPose

(

const karto::Pose2 &

rSourcePose

)

Transforms the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 58 of file RigidBodyTransform.cpp.

Member Data Documentation

m_InvTransform

karto::Pose2 karto::RigidBodyTransform::m_InvTransform

private

Definition at line 40 of file RigidBodyTransform.h.

m_Transform

karto::Pose2 karto::RigidBodyTransform::m_Transform

private

Definition at line 39 of file RigidBodyTransform.h.

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

• RigidBodyTransform.h
• RigidBodyTransform.cpp