#include <yarp/math/FrameTransform.h>

Inheritance diagram for yarp::math::FrameTransform:

Classes
struct	Translation_t

Public Types
enum	display_transform_mode_t { rotation_as_quaternion =0 , rotation_as_matrix =1 , rotation_as_rpy =2 }

Public Member Functions
bool	isValid () const

	FrameTransform ()

	FrameTransform (const std::string &parent, const std::string &child, double inTX, double inTY, double inTZ, double inRX, double inRY, double inRZ, double inRW)

	~FrameTransform ()

void	transFromVec (double X, double Y, double Z)

void	rotFromRPY (double R, double P, double Y)

yarp::sig::Vector	getRPYRot () const

yarp::sig::Matrix	toMatrix () const

bool	fromMatrix (const yarp::sig::Matrix &mat)

std::string	toString (display_transform_mode_t format=rotation_as_quaternion) const

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

bool	write (yarp::os::ConnectionWriter &connection) const override
	Write data to a connection.

yarp::os::Type	getType () const override

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PortWriter
virtual	~PortWriter ()
	Destructor.

virtual void	onCompletion () const
	This is called when the port has finished all writing operations.

virtual void	onCommencement () const
	This is called when the port is about to begin writing operations.

virtual yarp::os::Type	getWriteType () const

Public Attributes
std::string	src_frame_id

std::string	dst_frame_id

double	timestamp = 0

bool	isStatic = false

struct yarp::math::FrameTransform::Translation_t	translation

Quaternion	rotation

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Portable
static bool	copyPortable (const PortWriter &writer, PortReader &reader)
	Copy one portable to another, via writing and reading.

Detailed Description

Definition at line 16 of file FrameTransform.h.

Member Enumeration Documentation

◆ display_transform_mode_t

enum yarp::math::FrameTransform::display_transform_mode_t

Enumerator
rotation_as_quaternion
rotation_as_matrix
rotation_as_rpy

Definition at line 63 of file FrameTransform.h.

Constructor & Destructor Documentation

◆ FrameTransform() [1/2]

FrameTransform::FrameTransform ( )

Definition at line 20 of file FrameTransform.cpp.

◆ FrameTransform() [2/2]

FrameTransform::FrameTransform	(	const std::string &	parent,
		const std::string &	child,
		double	inTX,
		double	inTY,
		double	inTZ,
		double	inRX,
		double	inRY,
		double	inRZ,
		double	inRW
	)

Definition at line 25 of file FrameTransform.cpp.

◆ ~FrameTransform()

FrameTransform::~FrameTransform ( )

default

Member Function Documentation

◆ fromMatrix()

bool FrameTransform::fromMatrix ( const yarp::sig::Matrix & mat )

Definition at line 88 of file FrameTransform.cpp.

◆ getRPYRot()

yarp::sig::Vector FrameTransform::getRPYRot ( ) const

Definition at line 68 of file FrameTransform.cpp.

◆ getType()

yarp::os::Type yarp::math::FrameTransform::getType ( ) const

inlineoverridevirtual

Reimplemented from yarp::os::Portable.

Definition at line 85 of file FrameTransform.h.

◆ isValid()

bool FrameTransform::isValid ( ) const

Definition at line 41 of file FrameTransform.cpp.

◆ read()

bool FrameTransform::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::Portable.

Definition at line 174 of file FrameTransform.cpp.

◆ rotFromRPY()

void FrameTransform::rotFromRPY	(	double	R,
		double	P,
		double	Y
	)

Definition at line 56 of file FrameTransform.cpp.

◆ toMatrix()

yarp::sig::Matrix FrameTransform::toMatrix ( ) const

Definition at line 77 of file FrameTransform.cpp.

◆ toString()

std::string FrameTransform::toString ( display_transform_mode_t format = rotation_as_quaternion ) const

Definition at line 108 of file FrameTransform.cpp.

◆ transFromVec()

void FrameTransform::transFromVec	(	double	X,
		double	Y,
		double	Z
	)

Definition at line 51 of file FrameTransform.cpp.

◆ write()

bool FrameTransform::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write data to a connection.

return true iff data was written correctly

Implements yarp::os::Portable.

Definition at line 210 of file FrameTransform.cpp.

Member Data Documentation

◆ dst_frame_id

std::string yarp::math::FrameTransform::dst_frame_id

Definition at line 20 of file FrameTransform.h.

◆ isStatic

bool yarp::math::FrameTransform::isStatic = false

Definition at line 22 of file FrameTransform.h.

◆ rotation

Quaternion yarp::math::FrameTransform::rotation

Definition at line 38 of file FrameTransform.h.

◆ src_frame_id

std::string yarp::math::FrameTransform::src_frame_id

Definition at line 19 of file FrameTransform.h.

◆ timestamp

double yarp::math::FrameTransform::timestamp = 0

Definition at line 21 of file FrameTransform.h.

◆ translation

struct yarp::math::FrameTransform::Translation_t yarp::math::FrameTransform::translation

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

src/libYARP_math/src/yarp/math/FrameTransform.h
src/libYARP_math/src/yarp/math/FrameTransform.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members