ow_core::HomogeneousTransformation< _Scalar > Class Template Reference

The HomogeneousTransformation class. More...

#include <homogeneous_transformation.h>

Inheritance diagram for ow_core::HomogeneousTransformation< _Scalar >:

Public Types
typedef _Scalar	Scalar
typedef Eigen::Transform< _Scalar, 3, Eigen::Affine >	Base
typedef Eigen::Transform< _Scalar, 3, Eigen::Affine >::MatrixType	Matrix

Public Member Functions
	HomogeneousTransformation ()
	Default Constructor.
	HomogeneousTransformation (const Base &other)
	Copy constructor from Eigen::Affine. More...
template<typename OtherDerived >
	HomogeneousTransformation (const Eigen::EigenBase< OtherDerived > &other)
	Copy constructor OtherDerived. More...
	HomogeneousTransformation (const typename Base::TranslationType &other)
	Copy constructor from Eigen::Transform::Translation.
template<typename OtherDerived >
	HomogeneousTransformation (const Eigen::RotationBase< OtherDerived, 3 > &other)
	Copy constructor from Eigen::RotationBase.
	HomogeneousTransformation (const tf::Transform &other)
	Copy constructor from tf::Transform.
	HomogeneousTransformation (const geometry_msgs::Pose &other)
	Copy constructor from geometry_msgs::Pose.
void	operator= (const tf::Transform &other)
	Assignment form tf::Transform.
void	operator= (const geometry_msgs::Pose &other)
	Assignment form geometry_msgs::Pose.
	operator tf::Transform () const
	Conversion to tf::Transform.
	operator geometry_msgs::Pose () const
	Conversion to geometry_msgs::Pose.
tf::Transform	toTransformTf ()
	Conversion to tf::Transform.
geometry_msgs::Pose	toPoseMsg ()
	Conversion to geometry_msgs::Pose.
LinearPositionRef< Matrix >	position ()
	access to position part
LinearPositionRef< const Matrix >	position () const
	const access to position part
Rotation3Ref< Matrix >	orientation ()
	access to orientation part
Rotation3Ref< const Matrix >	orientation () const
	const access to orientation part
std::string	toString () const
	Conversion to std::string.

Static Public Member Functions
static const HomogeneousTransformation< Scalar > &	Default ()
	Default constructor. More...

Detailed Description

template<typename _Scalar>
class ow_core::HomogeneousTransformation< _Scalar >

The HomogeneousTransformation class.

The HomogeneousTransformation is of type Eigen::Transform and is represented by the math symbol .

Stores the position and orientation information in a 4x4 dimensional matrix. The orientation part is represented as a 3x3 matrix in the upper left corner. The position part is represented as a 3 dimensional vector in the upper right corner.

Constructor & Destructor Documentation

template<typename _Scalar >

ow_core::HomogeneousTransformation< _Scalar >::HomogeneousTransformation ( const Base &  other )

inline

Copy constructor from Eigen::Affine.

Todo:

removed explicit to write: HomogeneousTransformation T = Eigen::Affine(...);

template<typename _Scalar >

template<typename OtherDerived >

ow_core::HomogeneousTransformation< _Scalar >::HomogeneousTransformation ( const Eigen::EigenBase< OtherDerived > &  other )

inline

Copy constructor OtherDerived.

This copy constructor not only works with Eigen matrices but also with their expressions.

Member Function Documentation

template<typename _Scalar >

static const HomogeneousTransformation<Scalar>& ow_core::HomogeneousTransformation< _Scalar >::Default ( )

inlinestatic

Default constructor.

constructs as identity

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

• /home/dean/ros/workspaces/ow_test_ws/src/ow_core/include/ow_core/homogeneous_transformation.h