karto::Transform Class Reference

#include <PoseTransform.h>

Public Member Functions
Pose2	InverseTransformPose (const Pose2 &rSourcePose) const
	Transform ()
	Transform (const Pose2 &rPose)
	Transform (const Pose2 &rPose1, const Pose2 &rPose2)
Pose2	TransformPose (const Pose2 &rSourcePose) const

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

Private Attributes
Matrix3	m_InverseRotation
Matrix3	m_Rotation
Pose2	m_Transform

Detailed Description

Implementation of a Pose2 transform

Definition at line 34 of file PoseTransform.h.

Constructor & Destructor Documentation

Transform() [1/3]

karto::Transform::Transform

(

)

Identity transformation

Definition at line 23 of file PoseTransform.cpp.

Transform() [2/3]

karto::Transform::Transform

(

const Pose2 &

rPose

)

Transformation from the origin to the given pose

Parameters

rPose

pose

Definition at line 28 of file PoseTransform.cpp.

Transform() [3/3]

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

Transformation from the first pose to the second pose

Parameters

rPose1	first pose
rPose2	second pose

Definition at line 33 of file PoseTransform.cpp.

Member Function Documentation

InverseTransformPose()

Pose2 karto::Transform::InverseTransformPose ( const Pose2 &  rSourcePose ) const

inline

Inverse transformation of the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 74 of file PoseTransform.h.

SetTransform()

void karto::Transform::SetTransform ( const Pose2 &  rPose1, const 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 38 of file PoseTransform.cpp.

TransformPose()

Pose2 karto::Transform::TransformPose ( const Pose2 &  rSourcePose ) const

inline

Transforms the pose according to this transform

Parameters

rSourcePose

pose to transform from

Returns

transformed pose

Definition at line 61 of file PoseTransform.h.

Member Data Documentation

m_InverseRotation

Matrix3 karto::Transform::m_InverseRotation

private

Definition at line 96 of file PoseTransform.h.

m_Rotation

Matrix3 karto::Transform::m_Rotation

private

Definition at line 95 of file PoseTransform.h.

m_Transform

Pose2 karto::Transform::m_Transform

private

Definition at line 93 of file PoseTransform.h.

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

• PoseTransform.h
• PoseTransform.cpp