Public Member Functions | Private Attributes | Friends | List of all members
Sophus::SE3fFormatter Class Reference

#include <formatters.hpp>

Inheritance diagram for Sophus::SE3fFormatter:
Inheritance graph
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Public Member Functions

SE3fFormatteroperator() (const Sophus::SE3f &s)
 Format a sophus transform with permanently stored precision/width. More...
 
SE3fFormatteroperator() (const Sophus::SE3f &s, const int &w, const unsigned int &p)
 Format a matrix with temporarily specified precision/width. More...
 
unsigned int precision ()
 Returns the current precision setting. More...
 
SE3fFormatterprecision (const unsigned int &p)
 Sets the precision format parameter. More...
 
 SE3fFormatter (const int &w=-1, const unsigned int &p=2)
 Default constructor. More...
 
int width ()
 Returns the current width setting. More...
 
SE3fFormatterwidth (const int &w)
 Sets the width format parameter. More...
 
virtual ~SE3fFormatter ()
 

Private Attributes

ecl::Format< float > format
 
bool ready_to_format
 
const Sophus::SE3fs_
 
bool tmp_formatting
 
unsigned int tmp_precision
 
int tmp_width
 

Friends

template<typename OutputStream >
OutputStream & operator<< (OutputStream &ostream, SE3fFormatter &formatter)
 Stream the formatter. More...
 

Detailed Description

Formats the se3 in easily readable translation/quaternion syntax.

If you are working with frames, what you usually want to read is the pose of the frame, i.e. the inverse of the transform.

e.g. if you have T_cam_rel_map, to get the pose of the cam frame relative to the map frame, pass T_cam_rel_map.inverse() to this formatter.

Definition at line 44 of file sophus/formatters.hpp.

Constructor & Destructor Documentation

◆ SE3fFormatter()

Sophus::SE3fFormatter::SE3fFormatter ( const int &  w = -1,
const unsigned int &  p = 2 
)
inline

Default constructor.

Initialises the format tags for width, and precision.

Parameters
w: width (default - no width constraints)
p: the number of decimal places of precision (default - 4)

Definition at line 62 of file sophus/formatters.hpp.

◆ ~SE3fFormatter()

virtual Sophus::SE3fFormatter::~SE3fFormatter ( )
inlinevirtual

Definition at line 70 of file sophus/formatters.hpp.

Member Function Documentation

◆ operator()() [1/2]

SE3fFormatter& Sophus::SE3fFormatter::operator() ( const Sophus::SE3f s)
inline

Format a sophus transform with permanently stored precision/width.

This function directly formats the specified input value with the stored settings.

cout << format(Sophus::SE3f()) << endl;
Parameters
matrix: the matrix to be formatted (gets temporarily stored as a pointer).
Returns
FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 116 of file sophus/formatters.hpp.

◆ operator()() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::operator() ( const Sophus::SE3f s,
const int &  w,
const unsigned int &  p 
)
inline

Format a matrix with temporarily specified precision/width.

This function directly formats the specified input value and temporary settings.

cout << format(s,3,-1) << endl; // precision of 3 and no width constraint
Parameters
matrix: the matrix to be formatted (gets temporarily stored as a pointer).
w: the width to use for inserted floats (-1 is no width constraint).
p: the number of decimal places of precision.
Returns
FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 137 of file sophus/formatters.hpp.

◆ precision() [1/2]

unsigned int Sophus::SE3fFormatter::precision ( )
inline

Returns the current precision setting.

Returns
unsigned int : the precision value.

Definition at line 97 of file sophus/formatters.hpp.

◆ precision() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::precision ( const unsigned int &  p)
inline

Sets the precision format parameter.

Parameters
p: the number of decimal places of precision.
Returns
SE3fFormatter& : this formatter readied for use with a stream.

Definition at line 77 of file sophus/formatters.hpp.

◆ width() [1/2]

int Sophus::SE3fFormatter::width ( )
inline

Returns the current width setting.

Returns
int : the witdh value (-1 for no width constraint).

Definition at line 103 of file sophus/formatters.hpp.

◆ width() [2/2]

SE3fFormatter& Sophus::SE3fFormatter::width ( const int &  w)
inline

Sets the width format parameter.

Sets the width format parameter.

Parameters
w: the width to use for inserted floats (-1 is no width constraint).
Returns
FloatMatrixFormatter& : this formatter readied for use with a stream.

Definition at line 89 of file sophus/formatters.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename OutputStream >
OutputStream& operator<< ( OutputStream &  ostream,
SE3fFormatter formatter 
)
friend

Stream the formatter.

Insertion operator for sending the formatter to an output stream.

Parameters
ostream: the output stream.
formatter: the formatter to be inserted.
Template Parameters
OutputStream: the type of the output stream to be inserted into.
Derived: matrix type.
Returns
OutputStream : continue streaming with the updated output stream.
Exceptions
StandardException: throws if the formatter has un-specified _matrix [debug mode only]

Definition at line 163 of file sophus/formatters.hpp.

Member Data Documentation

◆ format

ecl::Format<float> Sophus::SE3fFormatter::format
private

Definition at line 162 of file sophus/formatters.hpp.

◆ ready_to_format

bool Sophus::SE3fFormatter::ready_to_format
private

Definition at line 166 of file sophus/formatters.hpp.

◆ s_

const Sophus::SE3f* Sophus::SE3fFormatter::s_
private

Definition at line 167 of file sophus/formatters.hpp.

◆ tmp_formatting

bool Sophus::SE3fFormatter::tmp_formatting
private

Definition at line 165 of file sophus/formatters.hpp.

◆ tmp_precision

unsigned int Sophus::SE3fFormatter::tmp_precision
private

Definition at line 164 of file sophus/formatters.hpp.

◆ tmp_width

int Sophus::SE3fFormatter::tmp_width
private

Definition at line 163 of file sophus/formatters.hpp.


The documentation for this class was generated from the following file:
Sophus::SE3fFormatter::format
ecl::Format< float > format
Definition: sophus/formatters.hpp:162
Sophus::SE3< float >


ecl_linear_algebra
Author(s): Daniel Stonier
autogenerated on Sun Aug 2 2020 03:12:11