Aria  2.7.5.2
ArTransform Class Reference

A class to handle transforms between different coordinates. More...

#include <ArTransform.h>

Public Member Functions

 ArTransform ()
 Constructor.
 
 ArTransform (ArPose pose)
 
 ArTransform (ArPose pose1, ArPose pose2)
 
ArPose doInvTransform (ArPose source)
 
ArPoseWithTime doInvTransform (ArPoseWithTime source)
 
ArPose doTransform (ArPose source)
 
ArPoseWithTime doTransform (ArPoseWithTime source)
 
void doTransform (std::list< ArPose * > *poseList)
 Take a std::list of sensor readings and do the transform on it.
 
void doTransform (std::list< ArPoseWithTime * > *poseList)
 Take a std::list of sensor readings and do the transform on it.
 
double getTh ()
 Gets the transform angle value (degrees)
 
void setTransform (ArPose pose)
 Sets the transform so points in this coord system transform to abs world coords. More...
 
void setTransform (ArPose pose1, ArPose pose2)
 Sets the transform so that pose1 will be transformed to pose2. More...
 
virtual ~ArTransform ()
 Destructor.
 

Protected Attributes

double myCos
 
double mySin
 
double myTh
 
double myX
 
double myY
 

Detailed Description

A class to handle transforms between different coordinates.

Constructor & Destructor Documentation

ArTransform::ArTransform ( ArPose  pose)
inline

Constructor, Sets the transform so points in this coord system transform to abs world coords

ArTransform::ArTransform ( ArPose  pose1,
ArPose  pose2 
)
inline

Constructor, sets the transform so that pose1 will be transformed to pose2

Member Function Documentation

ArPose ArTransform::doInvTransform ( ArPose  source)
inline

Take the source pose and run the inverse transform on it, taking it from abs coords to local The source and result can be the same

Parameters
sourcethe parameter to transform
Returns
the source transformed from absolute into local coords
ArPoseWithTime ArTransform::doInvTransform ( ArPoseWithTime  source)
inline

Take the source pose and run the inverse transform on it, taking it from abs coords to local The source and result can be the same

Parameters
sourcethe parameter to transform
Returns
the source transformed from absolute into local coords
ArPose ArTransform::doTransform ( ArPose  source)
inline

Take the source pose and run the transform on it to put it into abs coordinates

Parameters
sourcethe parameter to transform
Returns
the source transformed into absolute coordinates
ArPoseWithTime ArTransform::doTransform ( ArPoseWithTime  source)
inline

Take the source pose and run the transform on it to put it into abs coordinates

Parameters
sourcethe parameter to transform
Returns
the source transformed into absolute coordinates
void ArTransform::setTransform ( ArPose  pose)

Sets the transform so points in this coord system transform to abs world coords.

Parameters
posethe coord system from which we transform to abs world coords
void ArTransform::setTransform ( ArPose  pose1,
ArPose  pose2 
)

Sets the transform so that pose1 will be transformed to pose2.

Parameters
pose1transform this into pose2
pose2transform pose1 into this

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