YARP  2.3.70.1
Yet Another Robot Platform
yarp::math::FrameTransform Class Reference

#include <yarp/math/FrameTransform.h>

Classes

struct  Translation_t
 

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 ()
 

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.

Constructor & Destructor Documentation

◆ FrameTransform() [1/2]

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

Definition at line 43 of file FrameTransform.h.

◆ 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 
)
inline

Definition at line 50 of file FrameTransform.h.

◆ ~FrameTransform()

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

Definition at line 71 of file FrameTransform.h.

Member Function Documentation

◆ fromMatrix()

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

Definition at line 109 of file FrameTransform.h.

◆ getRPYRot()

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

Definition at line 89 of file FrameTransform.h.

◆ rotFromRPY()

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

Definition at line 78 of file FrameTransform.h.

◆ toMatrix()

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

Definition at line 98 of file FrameTransform.h.

◆ toString()

std::string yarp::math::FrameTransform::toString ( )

Definition at line 11 of file FrameTransform.cpp.

◆ transFromVec()

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

Definition at line 73 of file FrameTransform.h.

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: