Kindr
Kinematics and Dynamics for Robotics
kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ > Class Template Reference

#include <HomogeneousTransformation.hpp>

Inheritance diagram for kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >:
Inheritance graph

Public Types

typedef PrimType_ Scalar
 
typedef Position_ Position
 
typedef Rotation_ Rotation
 
typedef Eigen::Matrix< PrimType_, 4, 4 > TransformationMatrix
 

Public Member Functions

 HomogeneousTransformation ()
 
 HomogeneousTransformation (const Position &position, const Rotation &rotation)
 
template<typename OtherDerived_ >
 HomogeneousTransformation (const PoseBase< OtherDerived_ > &other)
 Constructor using another rotation. More...
 
HomogeneousTransformationoperator= (const HomogeneousTransformation &other)
 Assignment operator. More...
 
Position_ & getPosition ()
 
const Position_ & getPosition () const
 
Rotation_ & getRotation ()
 
const Rotation_ & getRotation () const
 
TransformationMatrix getTransformationMatrix () const
 
HomogeneousTransformationsetIdentity ()
 Sets the pose to identity. More...
 
- Public Member Functions inherited from kindr::PoseBase< HomogeneousTransformation< PrimType_, Position_, Rotation_ > >
 PoseBase ()=default
 Default constructor. More...
 
 PoseBase (const HomogeneousTransformation< PrimType_, Position_, Rotation_ > &)=delete
 Constructor from derived pose. This constructor has been deleted because the abstract class does not contain any data. More...
 
 operator HomogeneousTransformation< PrimType_, Position_, Rotation_ > & ()
 Gets the derived pose. More...
 
 operator const HomogeneousTransformation< PrimType_, Position_, Rotation_ > & () const
 Gets the derived pose. More...
 
const HomogeneousTransformation< PrimType_, Position_, Rotation_ > & derived () const
 Gets the derived pose. More...
 
internal::get_position< HomogeneousTransformation< PrimType_, Position_, Rotation_ > >::Position transform (const typename internal::get_position< HomogeneousTransformation< PrimType_, Position_, Rotation_ > >::Position &position) const
 Transforms a position. More...
 
internal::get_position< HomogeneousTransformation< PrimType_, Position_, Rotation_ > >::Position inverseTransform (const typename internal::get_position< HomogeneousTransformation< PrimType_, Position_, Rotation_ > >::Position &position) const
 Transforms a position in reverse. More...
 
HomogeneousTransformation< PrimType_, Position_, Rotation_ > operator* (const PoseBase< OtherDerived_ > &other) const
 Concatenates two transformations. More...
 
bool operator== (const PoseBase< OtherDerived_ > &other) const
 Compares two poses. More...
 
HomogeneousTransformation< PrimType_, Position_, Rotation_ > & setIdentity ()
 Sets the pose to identity. More...
 

Protected Attributes

Position_ position_
 
Rotation_ rotation_
 

Friends

std::ostream & operator<< (std::ostream &out, const HomogeneousTransformation &pose)
 Used for printing the object with std::cout. More...
 

Detailed Description

template<typename PrimType_, typename Position_, typename Rotation_>
class kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >

Definition at line 42 of file HomogeneousTransformation.hpp.

Member Typedef Documentation

◆ Position

template<typename PrimType_, typename Position_, typename Rotation_>
typedef Position_ kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::Position

Definition at line 49 of file HomogeneousTransformation.hpp.

◆ Rotation

template<typename PrimType_, typename Position_, typename Rotation_>
typedef Rotation_ kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::Rotation

Definition at line 50 of file HomogeneousTransformation.hpp.

◆ Scalar

template<typename PrimType_, typename Position_, typename Rotation_>
typedef PrimType_ kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::Scalar

Definition at line 48 of file HomogeneousTransformation.hpp.

◆ TransformationMatrix

template<typename PrimType_, typename Position_, typename Rotation_>
typedef Eigen::Matrix<PrimType_, 4, 4> kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::TransformationMatrix

Definition at line 51 of file HomogeneousTransformation.hpp.

Constructor & Destructor Documentation

◆ HomogeneousTransformation() [1/3]

template<typename PrimType_, typename Position_, typename Rotation_>
kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::HomogeneousTransformation ( )
inlineexplicit

Definition at line 54 of file HomogeneousTransformation.hpp.

◆ HomogeneousTransformation() [2/3]

template<typename PrimType_, typename Position_, typename Rotation_>
kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::HomogeneousTransformation ( const Position position,
const Rotation rotation 
)
inlineexplicit

Definition at line 58 of file HomogeneousTransformation.hpp.

◆ HomogeneousTransformation() [3/3]

template<typename PrimType_, typename Position_, typename Rotation_>
template<typename OtherDerived_ >
kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::HomogeneousTransformation ( const PoseBase< OtherDerived_ > &  other)
inlineexplicit

Constructor using another rotation.

Parameters
otherother rotation

Definition at line 66 of file HomogeneousTransformation.hpp.

Member Function Documentation

◆ getPosition() [1/2]

template<typename PrimType_, typename Position_, typename Rotation_>
Position_& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::getPosition ( )
inline

Definition at line 82 of file HomogeneousTransformation.hpp.

◆ getPosition() [2/2]

template<typename PrimType_, typename Position_, typename Rotation_>
const Position_& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::getPosition ( ) const
inline

Definition at line 86 of file HomogeneousTransformation.hpp.

◆ getRotation() [1/2]

template<typename PrimType_, typename Position_, typename Rotation_>
Rotation_& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::getRotation ( )
inline

Definition at line 90 of file HomogeneousTransformation.hpp.

◆ getRotation() [2/2]

template<typename PrimType_, typename Position_, typename Rotation_>
const Rotation_& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::getRotation ( ) const
inline

Definition at line 94 of file HomogeneousTransformation.hpp.

◆ getTransformationMatrix()

template<typename PrimType_, typename Position_, typename Rotation_>
TransformationMatrix kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::getTransformationMatrix ( ) const
inline

Definition at line 104 of file HomogeneousTransformation.hpp.

◆ operator=()

template<typename PrimType_, typename Position_, typename Rotation_>
HomogeneousTransformation& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::operator= ( const HomogeneousTransformation< PrimType_, Position_, Rotation_ > &  other)
inline

Assignment operator.

Parameters
otherother transformation
Returns
reference

Definition at line 76 of file HomogeneousTransformation.hpp.

◆ setIdentity()

template<typename PrimType_, typename Position_, typename Rotation_>
HomogeneousTransformation& kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::setIdentity ( )
inline

Sets the pose to identity.

Returns
reference

Definition at line 123 of file HomogeneousTransformation.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename PrimType_, typename Position_, typename Rotation_>
std::ostream& operator<< ( std::ostream &  out,
const HomogeneousTransformation< PrimType_, Position_, Rotation_ > &  pose 
)
friend

Used for printing the object with std::cout.

Returns
std::stream object

Definition at line 115 of file HomogeneousTransformation.hpp.

Member Data Documentation

◆ position_

template<typename PrimType_, typename Position_, typename Rotation_>
Position_ kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::position_
protected

Definition at line 44 of file HomogeneousTransformation.hpp.

◆ rotation_

template<typename PrimType_, typename Position_, typename Rotation_>
Rotation_ kindr::HomogeneousTransformation< PrimType_, Position_, Rotation_ >::rotation_
protected

Definition at line 45 of file HomogeneousTransformation.hpp.


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