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

#include <yarp/math/FrameTransform.h>

Detailed Description

Definition at line 20 of file FrameTransform.h.


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 () const

Public Attributes

std::string src_frame_id
std::string dst_frame_id
double timestamp
struct yarp::math::FrameTransform::Translation_t translation
Quaternion rotation

Constructor & Destructor Documentation

◆ FrameTransform() [1/2]

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

Definition at line 20 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 26 of file FrameTransform.cpp.

◆ ~FrameTransform()

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

Member Function Documentation

◆ fromMatrix()

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

Definition at line 80 of file FrameTransform.cpp.

◆ getRPYRot()

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

Definition at line 60 of file FrameTransform.cpp.

◆ rotFromRPY()

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

Definition at line 49 of file FrameTransform.cpp.

◆ toMatrix()

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

Definition at line 69 of file FrameTransform.cpp.

◆ toString()

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

Definition at line 100 of file FrameTransform.cpp.

◆ transFromVec()

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

Definition at line 44 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: