#include <yarp/math/FrameTransform.h>

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
	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

Public Attributes
std::string	src_frame_id

std::string	dst_frame_id

double	timestamp

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

Quaternion	rotation

Detailed Description

Definition at line 20 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 64 of file FrameTransform.h.

Constructor & Destructor Documentation

◆ FrameTransform() [1/2]

yarp::math::FrameTransform::FrameTransform ( )

Definition at line 21 of file FrameTransform.cpp.

◆ FrameTransform() [2/2]

yarp::math::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 27 of file FrameTransform.cpp.

◆ ~FrameTransform()

yarp::math::FrameTransform::~FrameTransform ( )

default

Member Function Documentation

◆ fromMatrix()

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

Definition at line 82 of file FrameTransform.cpp.

◆ getRPYRot()

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

Definition at line 62 of file FrameTransform.cpp.

◆ rotFromRPY()

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

Definition at line 50 of file FrameTransform.cpp.

◆ toMatrix()

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

Definition at line 71 of file FrameTransform.cpp.

◆ toString()

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

Definition at line 102 of file FrameTransform.cpp.

◆ transFromVec()

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

Definition at line 45 of file FrameTransform.cpp.

Member Data Documentation

◆ dst_frame_id

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

Definition at line 24 of file FrameTransform.h.

◆ rotation

Quaternion yarp::math::FrameTransform::rotation

Definition at line 41 of file FrameTransform.h.

◆ src_frame_id

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

Definition at line 23 of file FrameTransform.h.

◆ timestamp

double yarp::math::FrameTransform::timestamp

Definition at line 25 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