ArTransform Class Reference

Perform transforms between different coordinates. More...

#include <ArTransform.h>

Public Member Functions
	ArTransform ()
	Constructor.
	ArTransform (ArPose pose)
	Constructor, Sets the transform so points in this coord system transform to abs world coords.
	ArTransform (ArPose pose1, ArPose pose2)
	Constructor, sets the transform so that pose1 will be transformed to pose2.
ArPose	doInvTransform (ArPose source)
	Take the source pose and run the inverse transform on it, taking it from abs coords to local. More...
ArPoseWithTime	doInvTransform (ArPoseWithTime source)
	Take the source pose and run the inverse transform on it, taking it from abs coords to local. More...
ArPose	doTransform (ArPose source)
	Take the source pose and run the transform on it to put it into abs coordinates. More...
ArPoseWithTime	doTransform (ArPoseWithTime source)
	Take the source pose and run the transform on it to put it into abs coordinates. More...
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)
double	getX ()
	Gets the transform x value (mm)
double	getY ()
	Gets the transform y value (mm)
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...
void	setTransformLowLevel (double x, double y, double th)
	Internal function for setting the transform from low level data not poses.
virtual	~ArTransform ()
	Destructor.

Protected Attributes
double	myCos
double	mySin
double	myTh
double	myX
double	myY

Detailed Description

Perform transforms between different coordinates.

Member Function Documentation

doInvTransform() [1/2]

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

source

the parameter to transform

Returns

the source transformed from absolute into local coords

doInvTransform() [2/2]

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

source

the parameter to transform

Returns

the source transformed from absolute into local coords

doTransform() [1/2]

ArPose ArTransform::doTransform ( ArPose  source )

inline

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

Parameters

source

the parameter to transform

Returns

the source transformed into absolute coordinates

doTransform() [2/2]

ArPoseWithTime ArTransform::doTransform ( ArPoseWithTime  source )

inline

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

Parameters

source

the parameter to transform

Returns

the source transformed into absolute coordinates

setTransform() [1/2]

void ArTransform::setTransform

(

ArPose

pose

)

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

Parameters

pose	the coord system from which we transform to abs world coords

setTransform() [2/2]

void ArTransform::setTransform	(	ArPose	pose1,
		ArPose	pose2
	)

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

Parameters

pose1	transform this into pose2
pose2	transform pose1 into this

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

• ArTransform.h
• ArTransform.cpp