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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "classrtabmap_1_1Transform-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::Transform Class Reference</ div ></ div >
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< p > Represents a 3D rigid body transformation (rotation + translation).
< a href = "classrtabmap_1_1Transform.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > > </ code ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:ac3654d3f6802d4b0c17b6110d1eda71a" id = "r_ac3654d3f6802d4b0c17b6110d1eda71a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac3654d3f6802d4b0c17b6110d1eda71a" name = "ac3654d3f6802d4b0c17b6110d1eda71a" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > Transform</ b > ()</ td ></ tr >
< tr class = "memdesc:ac3654d3f6802d4b0c17b6110d1eda71a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Default constructor. Initializes to a null (all zeros) transform. < br /></ td ></ tr >
< tr class = "separator:ac3654d3f6802d4b0c17b6110d1eda71a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" id = "r_a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" > Transform</ a > (float < a class = "el" href = "classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf" > r11</ a > , float r12, float r13, float < a class = "el" href = "classrtabmap_1_1Transform.html#adbdb9063808e63830cbcbd99e1e84d3d" > o14</ a > , float r21, float r22, float r23, float < a class = "el" href = "classrtabmap_1_1Transform.html#aa68c9c3b75ad7b66ca8bbf66742b0cc5" > o24</ a > , float r31, float r32, float r33, float < a class = "el" href = "classrtabmap_1_1Transform.html#a39184351ff5625030b6d1019c0e3d93f" > o34</ a > )</ td ></ tr >
< tr class = "memdesc:a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructor from rotation matrix elements and translation components. < br /></ td ></ tr >
< tr class = "separator:a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a82b851897ce2ca729d62fb92dcc48b9f" id = "r_a82b851897ce2ca729d62fb92dcc48b9f" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a82b851897ce2ca729d62fb92dcc48b9f" > Transform</ a > (const cv::Mat & transformationMatrix)</ td ></ tr >
< tr class = "memdesc:a82b851897ce2ca729d62fb92dcc48b9f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from a 3x4 OpenCV matrix. < br /></ td ></ tr >
< tr class = "separator:a82b851897ce2ca729d62fb92dcc48b9f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1023adcd1e5d65647e6eda50160c3474" id = "r_a1023adcd1e5d65647e6eda50160c3474" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474" > Transform</ a > (float < a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > , float roll, float pitch, float yaw)</ td ></ tr >
< tr class = "memdesc:a1023adcd1e5d65647e6eda50160c3474" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from position and Euler angles (in radians). < br /></ td ></ tr >
< tr class = "separator:a1023adcd1e5d65647e6eda50160c3474" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af471c17a5e411db55813b766727830f4" id = "r_af471c17a5e411db55813b766727830f4" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#af471c17a5e411db55813b766727830f4" > Transform</ a > (float < a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > , float qx, float qy, float qz, float qw)</ td ></ tr >
< tr class = "memdesc:af471c17a5e411db55813b766727830f4" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from position and quaternion. < br /></ td ></ tr >
< tr class = "separator:af471c17a5e411db55813b766727830f4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af434ccbc426920a1b35ecbf4eec226e7" id = "r_af434ccbc426920a1b35ecbf4eec226e7" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af434ccbc426920a1b35ecbf4eec226e7" name = "af434ccbc426920a1b35ecbf4eec226e7" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > Transform</ b > (float < a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > , float < a class = "el" href = "classrtabmap_1_1Transform.html#acc7f19107da9b048a43497f93dd39582" > theta</ a > )</ td ></ tr >
< tr class = "memdesc:af434ccbc426920a1b35ecbf4eec226e7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs a 2D < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > (x, y, theta). < br /></ td ></ tr >
< tr class = "separator:af434ccbc426920a1b35ecbf4eec226e7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a93af73b3a388d66293d007cb164b2198" id = "r_a93af73b3a388d66293d007cb164b2198" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a93af73b3a388d66293d007cb164b2198" name = "a93af73b3a388d66293d007cb164b2198" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > clone</ b > () const</ td ></ tr >
< tr class = "memdesc:a93af73b3a388d66293d007cb164b2198" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns a deep copy of the transform. < br /></ td ></ tr >
< tr class = "separator:a93af73b3a388d66293d007cb164b2198" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1ea4c945ccf717677606fc7fe0331ccf" id = "r_a1ea4c945ccf717677606fc7fe0331ccf" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf" > r11</ a > () const</ td ></ tr >
< tr class = "memdesc:a1ea4c945ccf717677606fc7fe0331ccf" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Rotation matrix element at row 1, col 1. < br /></ td ></ tr >
< tr class = "separator:a1ea4c945ccf717677606fc7fe0331ccf" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa570baa97931fe57160e189ab6589254" id = "r_aa570baa97931fe57160e189ab6589254" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aa570baa97931fe57160e189ab6589254" > r12</ a > () const</ td ></ tr >
< tr class = "separator:aa570baa97931fe57160e189ab6589254" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7af7f09501af4a42ff3d7bb20993f4c1" id = "r_a7af7f09501af4a42ff3d7bb20993f4c1" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a7af7f09501af4a42ff3d7bb20993f4c1" > r13</ a > () const</ td ></ tr >
< tr class = "separator:a7af7f09501af4a42ff3d7bb20993f4c1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6eee19333dc310289821afe0365c27d7" id = "r_a6eee19333dc310289821afe0365c27d7" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a6eee19333dc310289821afe0365c27d7" > r21</ a > () const</ td ></ tr >
< tr class = "separator:a6eee19333dc310289821afe0365c27d7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0f8580f3e54ec59f1e10a73422221366" id = "r_a0f8580f3e54ec59f1e10a73422221366" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a0f8580f3e54ec59f1e10a73422221366" > r22</ a > () const</ td ></ tr >
< tr class = "separator:a0f8580f3e54ec59f1e10a73422221366" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a56c4e41357f12415e3e505c50ceecaed" id = "r_a56c4e41357f12415e3e505c50ceecaed" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a56c4e41357f12415e3e505c50ceecaed" > r23</ a > () const</ td ></ tr >
< tr class = "separator:a56c4e41357f12415e3e505c50ceecaed" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aff8aa2fd458b316a1024cb55450c4cb4" id = "r_aff8aa2fd458b316a1024cb55450c4cb4" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aff8aa2fd458b316a1024cb55450c4cb4" > r31</ a > () const</ td ></ tr >
< tr class = "separator:aff8aa2fd458b316a1024cb55450c4cb4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1b4d536f5816f263480ea1c082a2f1c6" id = "r_a1b4d536f5816f263480ea1c082a2f1c6" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a1b4d536f5816f263480ea1c082a2f1c6" > r32</ a > () const</ td ></ tr >
< tr class = "separator:a1b4d536f5816f263480ea1c082a2f1c6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa2588970787ad45766ee30674ce104e6" id = "r_aa2588970787ad45766ee30674ce104e6" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aa2588970787ad45766ee30674ce104e6" > r33</ a > () const</ td ></ tr >
< tr class = "separator:aa2588970787ad45766ee30674ce104e6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:adbdb9063808e63830cbcbd99e1e84d3d" id = "r_adbdb9063808e63830cbcbd99e1e84d3d" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#adbdb9063808e63830cbcbd99e1e84d3d" > o14</ a > () const</ td ></ tr >
< tr class = "memdesc:adbdb9063808e63830cbcbd99e1e84d3d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation x. < br /></ td ></ tr >
< tr class = "separator:adbdb9063808e63830cbcbd99e1e84d3d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa68c9c3b75ad7b66ca8bbf66742b0cc5" id = "r_aa68c9c3b75ad7b66ca8bbf66742b0cc5" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aa68c9c3b75ad7b66ca8bbf66742b0cc5" > o24</ a > () const</ td ></ tr >
< tr class = "memdesc:aa68c9c3b75ad7b66ca8bbf66742b0cc5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation y. < br /></ td ></ tr >
< tr class = "separator:aa68c9c3b75ad7b66ca8bbf66742b0cc5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a39184351ff5625030b6d1019c0e3d93f" id = "r_a39184351ff5625030b6d1019c0e3d93f" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a39184351ff5625030b6d1019c0e3d93f" > o34</ a > () const</ td ></ tr >
< tr class = "memdesc:a39184351ff5625030b6d1019c0e3d93f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation z. < br /></ td ></ tr >
< tr class = "separator:a39184351ff5625030b6d1019c0e3d93f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac85dfe2d9ebbda325d877767d95ebd70" id = "r_ac85dfe2d9ebbda325d877767d95ebd70" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#ac85dfe2d9ebbda325d877767d95ebd70" > operator[]</ a > (int index)</ td ></ tr >
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< tr class = "memitem:a2a678a34678fc208bbe23495f5158d4b" id = "r_a2a678a34678fc208bbe23495f5158d4b" >< td class = "memItemLeft" align = "right" valign = "top" > const float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a2a678a34678fc208bbe23495f5158d4b" > operator[]</ a > (int index) const</ td ></ tr >
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< tr class = "memitem:a46fbd2c3a06ff708f42b926b30bf66ca" id = "r_a46fbd2c3a06ff708f42b926b30bf66ca" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a46fbd2c3a06ff708f42b926b30bf66ca" > operator()</ a > (int row, int col)</ td ></ tr >
< tr class = "separator:a46fbd2c3a06ff708f42b926b30bf66ca" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aec3fdc8b25df55b86564f1188a335829" id = "r_aec3fdc8b25df55b86564f1188a335829" >< td class = "memItemLeft" align = "right" valign = "top" > const float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aec3fdc8b25df55b86564f1188a335829" > operator()</ a > (int row, int col) const</ td ></ tr >
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< tr class = "memitem:a0d6a1985391a45de4fe208e58c51b9d2" id = "r_a0d6a1985391a45de4fe208e58c51b9d2" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a0d6a1985391a45de4fe208e58c51b9d2" name = "a0d6a1985391a45de4fe208e58c51b9d2" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isNull</ b > () const</ td ></ tr >
< tr class = "memdesc:a0d6a1985391a45de4fe208e58c51b9d2" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks whether the transform is null (all zeros). < br /></ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isIdentity</ b > () const</ td ></ tr >
< tr class = "memdesc:ae0636052ce31698d4d45afe4492ffab9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks whether the transform is identity. < br /></ td ></ tr >
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< tr class = "memitem:af0020cf4093b8b1a3d1f68ee657b3662" id = "r_af0020cf4093b8b1a3d1f68ee657b3662" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af0020cf4093b8b1a3d1f68ee657b3662" name = "af0020cf4093b8b1a3d1f68ee657b3662" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setNull</ b > ()</ td ></ tr >
< tr class = "memdesc:af0020cf4093b8b1a3d1f68ee657b3662" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the transform to null (zero matrix). < br /></ td ></ tr >
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< tr class = "memitem:afe833cfcd56f2f147091e7d309dadb36" id = "r_afe833cfcd56f2f147091e7d309dadb36" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "afe833cfcd56f2f147091e7d309dadb36" name = "afe833cfcd56f2f147091e7d309dadb36" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setIdentity</ b > ()</ td ></ tr >
< tr class = "memdesc:afe833cfcd56f2f147091e7d309dadb36" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the transform to the identity transform. < br /></ td ></ tr >
< tr class = "separator:afe833cfcd56f2f147091e7d309dadb36" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aac41c119a4602f70494380303fe5d277" id = "r_aac41c119a4602f70494380303fe5d277" >< td class = "memItemLeft" align = "right" valign = "top" > const cv::Mat &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aac41c119a4602f70494380303fe5d277" > dataMatrix</ a > () const</ td ></ tr >
< tr class = "memdesc:aac41c119a4602f70494380303fe5d277" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the internal OpenCV matrix (3x4). < br /></ td ></ tr >
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< tr class = "memitem:a8db5709fa16ae937c5221b6e8bbbf364" id = "r_a8db5709fa16ae937c5221b6e8bbbf364" >< td class = "memItemLeft" align = "right" valign = "top" > const float *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a8db5709fa16ae937c5221b6e8bbbf364" > data</ a > () const</ td ></ tr >
< tr class = "memdesc:a8db5709fa16ae937c5221b6e8bbbf364" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns a pointer to the raw data (12 floats). < br /></ td ></ tr >
< tr class = "separator:a8db5709fa16ae937c5221b6e8bbbf364" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a73485496d15401eb211162bead20ad14" id = "r_a73485496d15401eb211162bead20ad14" >< td class = "memItemLeft" align = "right" valign = "top" > float *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a73485496d15401eb211162bead20ad14" > data</ a > ()</ td ></ tr >
< tr class = "separator:a73485496d15401eb211162bead20ad14" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2cdd55b67e206a287e7bf4d248fb5256" id = "r_a2cdd55b67e206a287e7bf4d248fb5256" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a2cdd55b67e206a287e7bf4d248fb5256" > size</ a > () const</ td ></ tr >
< tr class = "memdesc:a2cdd55b67e206a287e7bf4d248fb5256" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the number of float elements (always 12). < br /></ td ></ tr >
< tr class = "separator:a2cdd55b67e206a287e7bf4d248fb5256" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5173dd4491ea0796180d1eb0f88a6762" id = "r_a5173dd4491ea0796180d1eb0f88a6762" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > ()</ td ></ tr >
< tr class = "memdesc:a5173dd4491ea0796180d1eb0f88a6762" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation getters/setters. < br /></ td ></ tr >
< tr class = "separator:a5173dd4491ea0796180d1eb0f88a6762" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acbb0afe7eb39181f85c2f9734352d6a9" id = "r_acbb0afe7eb39181f85c2f9734352d6a9" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > ()</ td ></ tr >
< tr class = "memdesc:acbb0afe7eb39181f85c2f9734352d6a9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation y. < br /></ td ></ tr >
< tr class = "separator:acbb0afe7eb39181f85c2f9734352d6a9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af90acc40bed06ab96468fd17585f1944" id = "r_af90acc40bed06ab96468fd17585f1944" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > ()</ td ></ tr >
< tr class = "memdesc:af90acc40bed06ab96468fd17585f1944" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Translation z. < br /></ td ></ tr >
< tr class = "separator:af90acc40bed06ab96468fd17585f1944" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a087f8ce2e16cbe5e45190b4c23947803" id = "r_a087f8ce2e16cbe5e45190b4c23947803" >< td class = "memItemLeft" align = "right" valign = "top" > const float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a087f8ce2e16cbe5e45190b4c23947803" > x</ a > () const</ td ></ tr >
< tr class = "separator:a087f8ce2e16cbe5e45190b4c23947803" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac117de9860cbf13418d4c08d6069ae92" id = "r_ac117de9860cbf13418d4c08d6069ae92" >< td class = "memItemLeft" align = "right" valign = "top" > const float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#ac117de9860cbf13418d4c08d6069ae92" > y</ a > () const</ td ></ tr >
< tr class = "separator:ac117de9860cbf13418d4c08d6069ae92" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a713d2cd7715d2effab5c5ac0869cf458" id = "r_a713d2cd7715d2effab5c5ac0869cf458" >< td class = "memItemLeft" align = "right" valign = "top" > const float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a713d2cd7715d2effab5c5ac0869cf458" > z</ a > () const</ td ></ tr >
< tr class = "separator:a713d2cd7715d2effab5c5ac0869cf458" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acc7f19107da9b048a43497f93dd39582" id = "r_acc7f19107da9b048a43497f93dd39582" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "acc7f19107da9b048a43497f93dd39582" name = "acc7f19107da9b048a43497f93dd39582" ></ a >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > theta</ b > () const</ td ></ tr >
< tr class = "memdesc:acc7f19107da9b048a43497f93dd39582" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns 2D orientation (theta) in radians. < br /></ td ></ tr >
< tr class = "separator:acc7f19107da9b048a43497f93dd39582" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:addc1c06517c7308f00bd54b5744aa959" id = "r_addc1c06517c7308f00bd54b5744aa959" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "addc1c06517c7308f00bd54b5744aa959" name = "addc1c06517c7308f00bd54b5744aa959" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isInvertible</ b > () const</ td ></ tr >
< tr class = "memdesc:addc1c06517c7308f00bd54b5744aa959" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns whether the transform is invertible. < br /></ td ></ tr >
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< tr class = "memitem:a71ff72d5731d252a87a19c63e3890e3a" id = "r_a71ff72d5731d252a87a19c63e3890e3a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a71ff72d5731d252a87a19c63e3890e3a" name = "a71ff72d5731d252a87a19c63e3890e3a" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > inverse</ b > () const</ td ></ tr >
< tr class = "memdesc:a71ff72d5731d252a87a19c63e3890e3a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the inverse of the transform. < br /></ td ></ tr >
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< tr class = "memitem:aeed78122de7f78a13641802b964d9631" id = "r_aeed78122de7f78a13641802b964d9631" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aeed78122de7f78a13641802b964d9631" name = "aeed78122de7f78a13641802b964d9631" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > rotation</ b > () const</ td ></ tr >
< tr class = "memdesc:aeed78122de7f78a13641802b964d9631" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns only the rotation component. < br /></ td ></ tr >
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< tr class = "memitem:aeeb0bbe0e84a9e46f63086c3ff4d4e0e" id = "r_aeeb0bbe0e84a9e46f63086c3ff4d4e0e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aeeb0bbe0e84a9e46f63086c3ff4d4e0e" name = "aeeb0bbe0e84a9e46f63086c3ff4d4e0e" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > translation</ b > () const</ td ></ tr >
< tr class = "memdesc:aeeb0bbe0e84a9e46f63086c3ff4d4e0e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns only the translation component. < br /></ td ></ tr >
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< tr class = "memitem:a3a1b7b3d9f2db760b8eff9f3f90cd405" id = "r_a3a1b7b3d9f2db760b8eff9f3f90cd405" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a3a1b7b3d9f2db760b8eff9f3f90cd405" name = "a3a1b7b3d9f2db760b8eff9f3f90cd405" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > to3DoF</ b > () const</ td ></ tr >
< tr class = "memdesc:a3a1b7b3d9f2db760b8eff9f3f90cd405" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts to 3 DoF (x, y, theta). < br /></ td ></ tr >
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< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > to4DoF</ b > () const</ td ></ tr >
< tr class = "memdesc:a9b0c23cbc2d0938b8da638930cb109de" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts to 4 DoF (x, y, z, yaw). < br /></ td ></ tr >
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< tr class = "memitem:a61c6a6acf6b149caa67918331d73004a" id = "r_a61c6a6acf6b149caa67918331d73004a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a61c6a6acf6b149caa67918331d73004a" name = "a61c6a6acf6b149caa67918331d73004a" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > is3DoF</ b > () const</ td ></ tr >
< tr class = "memdesc:a61c6a6acf6b149caa67918331d73004a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks if the transform is 3 DoF (no pitch/roll). < br /></ td ></ tr >
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< tr class = "memitem:adaa07bac5d863d028d277b84880aeaab" id = "r_adaa07bac5d863d028d277b84880aeaab" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "adaa07bac5d863d028d277b84880aeaab" name = "adaa07bac5d863d028d277b84880aeaab" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > is4DoF</ b > () const</ td ></ tr >
< tr class = "memdesc:adaa07bac5d863d028d277b84880aeaab" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks if the transform is 4 DoF (no pitch). < br /></ td ></ tr >
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< tr class = "memitem:a23dfabecb7b2ad9c6a7fdcde08d900ab" id = "r_a23dfabecb7b2ad9c6a7fdcde08d900ab" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a23dfabecb7b2ad9c6a7fdcde08d900ab" name = "a23dfabecb7b2ad9c6a7fdcde08d900ab" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > rotationMatrix</ b > () const</ td ></ tr >
< tr class = "memdesc:a23dfabecb7b2ad9c6a7fdcde08d900ab" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the 3x3 rotation matrix (cv::Mat). < br /></ td ></ tr >
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< tr class = "memitem:a6a7bb81847554509d1128238860c047e" id = "r_a6a7bb81847554509d1128238860c047e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6a7bb81847554509d1128238860c047e" name = "a6a7bb81847554509d1128238860c047e" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > translationMatrix</ b > () const</ td ></ tr >
< tr class = "memdesc:a6a7bb81847554509d1128238860c047e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the 3x1 translation matrix (cv::Mat). < br /></ td ></ tr >
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< tr class = "memitem:aad65adff491fd57a31dbe4e26d7f29af" id = "r_aad65adff491fd57a31dbe4e26d7f29af" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aad65adff491fd57a31dbe4e26d7f29af" name = "aad65adff491fd57a31dbe4e26d7f29af" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTranslationAndEulerAngles</ b > (float & < a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > , float & < a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > , float & < a class = "el" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > , float & roll, float & pitch, float & yaw) const</ td ></ tr >
< tr class = "memdesc:aad65adff491fd57a31dbe4e26d7f29af" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Extracts translation and Euler angles (radians). < br /></ td ></ tr >
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void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getEulerAngles</ b > (float & roll, float & pitch, float & yaw) const</ td ></ tr >
< tr class = "memdesc:adf2345af30927b656ceca938ec4d0525" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Extracts Euler angles (roll, pitch, yaw). < br /></ td ></ tr >
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void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTranslation</ b > (float & < a class = "el" href = "classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762" > x</ a > , float & < a class = "el" href = "classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9" > y</ a > , float & < a class = "el" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > ) const</ td ></ tr >
< tr class = "memdesc:a3393daecc17559c66156ba3eb0711875" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Extracts translation only. < br /></ td ></ tr >
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< tr class = "memitem:abd0f443c22c295cfe85e2402516defcc" id = "r_abd0f443c22c295cfe85e2402516defcc" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abd0f443c22c295cfe85e2402516defcc" name = "abd0f443c22c295cfe85e2402516defcc" ></ a >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAngle</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
< tr class = "memdesc:abd0f443c22c295cfe85e2402516defcc" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns angular difference (in radians) with another transform. < br /></ td ></ tr >
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float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNorm</ b > () const</ td ></ tr >
< tr class = "memdesc:af3c46b76fe855b0334a7f255792a6082" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the Euclidean norm of the translation vector. < br /></ td ></ tr >
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float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNormSquared</ b > () const</ td ></ tr >
< tr class = "memdesc:aee7765828eb454015b4deb72d70a034a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the squared norm of the translation vector. < br /></ td ></ tr >
< tr class = "separator:aee7765828eb454015b4deb72d70a034a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ade8f4e91576b320690741efa817bd7ad" id = "r_ade8f4e91576b320690741efa817bd7ad" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ade8f4e91576b320690741efa817bd7ad" name = "ade8f4e91576b320690741efa817bd7ad" ></ a >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getDistance</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
< tr class = "memdesc:ade8f4e91576b320690741efa817bd7ad" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the Euclidean distance to another transform. < br /></ td ></ tr >
< tr class = "separator:ade8f4e91576b320690741efa817bd7ad" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae311741cc884ca8f5343bc2710b96a0b" id = "r_ae311741cc884ca8f5343bc2710b96a0b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ae311741cc884ca8f5343bc2710b96a0b" name = "ae311741cc884ca8f5343bc2710b96a0b" ></ a >
float  </ td >< td class = "memItemRight" valign = "bottom" >< b > getDistanceSquared</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
< tr class = "memdesc:ae311741cc884ca8f5343bc2710b96a0b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the squared distance to another transform. < br /></ td ></ tr >
< tr class = "separator:ae311741cc884ca8f5343bc2710b96a0b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af42b1c945a7fee57a26207fb96b7143d" id = "r_af42b1c945a7fee57a26207fb96b7143d" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#af42b1c945a7fee57a26207fb96b7143d" > interpolate</ a > (float t, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & other) const</ td ></ tr >
< tr class = "memdesc:af42b1c945a7fee57a26207fb96b7143d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Interpolates between this and another transform. < br /></ td ></ tr >
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< tr class = "memitem:acbdd19971643c7400cb59055ec64d3cf" id = "r_acbdd19971643c7400cb59055ec64d3cf" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "acbdd19971643c7400cb59055ec64d3cf" name = "acbdd19971643c7400cb59055ec64d3cf" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > normalizeRotation</ b > ()</ td ></ tr >
< tr class = "memdesc:acbdd19971643c7400cb59055ec64d3cf" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Normalizes the rotation matrix. < br /></ td ></ tr >
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< tr class = "memitem:a61ff0bf933e0e7f220f20745df3d0818" id = "r_a61ff0bf933e0e7f220f20745df3d0818" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a61ff0bf933e0e7f220f20745df3d0818" name = "a61ff0bf933e0e7f220f20745df3d0818" ></ a >
std::string  </ td >< td class = "memItemRight" valign = "bottom" >< b > prettyPrint</ b > () const</ td ></ tr >
< tr class = "memdesc:a61ff0bf933e0e7f220f20745df3d0818" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns a string representation of the transform. < br /></ td ></ tr >
< tr class = "separator:a61ff0bf933e0e7f220f20745df3d0818" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4d70ff21bbb61cd65c2d00130d8f84a7" id = "r_a4d70ff21bbb61cd65c2d00130d8f84a7" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a4d70ff21bbb61cd65c2d00130d8f84a7" name = "a4d70ff21bbb61cd65c2d00130d8f84a7" ></ a >
< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > operator*</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
< tr class = "memdesc:a4d70ff21bbb61cd65c2d00130d8f84a7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Operator overloads. < br /></ td ></ tr >
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< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >< td class = "memItemRight" valign = "bottom" >< b > operator*=</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t)</ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > operator==</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > operator!=</ b > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t) const</ td ></ tr >
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Eigen::Matrix4f  </ td >< td class = "memItemRight" valign = "bottom" >< b > toEigen4f</ b > () const</ td ></ tr >
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Eigen::Matrix4d  </ td >< td class = "memItemRight" valign = "bottom" >< b > toEigen4d</ b > () const</ td ></ tr >
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Eigen::Affine3f  </ td >< td class = "memItemRight" valign = "bottom" >< b > toEigen3f</ b > () const</ td ></ tr >
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Eigen::Affine3d  </ td >< td class = "memItemRight" valign = "bottom" >< b > toEigen3d</ b > () const</ td ></ tr >
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Eigen::Quaternionf  </ td >< td class = "memItemRight" valign = "bottom" >< b > getQuaternionf</ b > () const</ td ></ tr >
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Eigen::Quaterniond  </ td >< td class = "memItemRight" valign = "bottom" >< b > getQuaterniond</ b > () const</ td ></ tr >
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</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a8ea4368f2018d751d2733038081d56a2" id = "r_a8ea4368f2018d751d2733038081d56a2" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a8ea4368f2018d751d2733038081d56a2" name = "a8ea4368f2018d751d2733038081d56a2" ></ a >
static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > getIdentity</ b > ()</ td ></ tr >
< tr class = "memdesc:a8ea4368f2018d751d2733038081d56a2" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns identity transform. < br /></ td ></ tr >
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< tr class = "memitem:aed17615176c1c3e6fdc682232b753d29" id = "r_aed17615176c1c3e6fdc682232b753d29" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aed17615176c1c3e6fdc682232b753d29" name = "aed17615176c1c3e6fdc682232b753d29" ></ a >
static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen4f</ b > (const Eigen::Matrix4f & matrix)</ td ></ tr >
< tr class = "memdesc:aed17615176c1c3e6fdc682232b753d29" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts from Eigen representations. < br /></ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen4d</ b > (const Eigen::Matrix4d & matrix)</ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3f</ b > (const Eigen::Affine3f & matrix)</ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3d</ b > (const Eigen::Affine3d & matrix)</ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3f</ b > (const Eigen::Isometry3f & matrix)</ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3d</ b > (const Eigen::Isometry3d & matrix)</ td ></ tr >
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static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3f</ b > (const Eigen::Matrix< float, 3, 4 > & matrix)</ td ></ tr >
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< tr class = "memitem:a60c3cb236630eab6fce2716d926b4e94" id = "r_a60c3cb236630eab6fce2716d926b4e94" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a60c3cb236630eab6fce2716d926b4e94" name = "a60c3cb236630eab6fce2716d926b4e94" ></ a >
static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > fromEigen3d</ b > (const Eigen::Matrix< double, 3, 4 > & matrix)</ td ></ tr >
< tr class = "separator:a60c3cb236630eab6fce2716d926b4e94" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abd5f003e72ad31ebc9124385030fce59" id = "r_abd5f003e72ad31ebc9124385030fce59" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#abd5f003e72ad31ebc9124385030fce59" > opengl_T_rtabmap</ a > ()</ td ></ tr >
< tr class = "memdesc:abd5f003e72ad31ebc9124385030fce59" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the transform from RTAB-Map to OpenGL coordinate system. < br /></ td ></ tr >
< tr class = "separator:abd5f003e72ad31ebc9124385030fce59" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa58ff702a149c05c930195d1ce42012e" id = "r_aa58ff702a149c05c930195d1ce42012e" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#aa58ff702a149c05c930195d1ce42012e" > rtabmap_T_opengl</ a > ()</ td ></ tr >
< tr class = "memdesc:aa58ff702a149c05c930195d1ce42012e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the transform from OpenGL to RTAB-Map coordinate system. < br /></ td ></ tr >
< tr class = "separator:aa58ff702a149c05c930195d1ce42012e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8358aacfcddec4ab82c43c758cad0b75" id = "r_a8358aacfcddec4ab82c43c758cad0b75" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a8358aacfcddec4ab82c43c758cad0b75" > fromString</ a > (const std::string & string)</ td ></ tr >
< tr class = "memdesc:a8358aacfcddec4ab82c43c758cad0b75" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parses a transform from a string representation. Supported formats: < br /></ td ></ tr >
< tr class = "separator:a8358aacfcddec4ab82c43c758cad0b75" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af44657c8360a79a67e538f25027df639" id = "r_af44657c8360a79a67e538f25027df639" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af44657c8360a79a67e538f25027df639" name = "af44657c8360a79a67e538f25027df639" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > canParseString</ b > (const std::string & string)</ td ></ tr >
< tr class = "memdesc:af44657c8360a79a67e538f25027df639" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks if a string can be parsed into a transform. < br /></ td ></ tr >
< tr class = "separator:af44657c8360a79a67e538f25027df639" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3ebc45da479b4cae9a5641fda6ebaf23" id = "r_a3ebc45da479b4cae9a5641fda6ebaf23" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23" > getTransform</ a > (const std::map< double, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & tfBuffer, const double & stamp)</ td ></ tr >
< tr class = "memdesc:a3ebc45da479b4cae9a5641fda6ebaf23" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Retrieves the transform to a given timestamp. < br /></ td ></ tr >
< tr class = "separator:a3ebc45da479b4cae9a5641fda6ebaf23" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab943d72a808b96b7f89943fc78e38d68" id = "r_ab943d72a808b96b7f89943fc78e38d68" >< td class = "memItemLeft" align = "right" valign = "top" > static RTABMAP_DEPRECATED < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html#ab943d72a808b96b7f89943fc78e38d68" > getClosestTransform</ a > (const std::map< double, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & tfBuffer, const double & stamp, double *stampDiff)</ td ></ tr >
< tr class = "separator:ab943d72a808b96b7f89943fc78e38d68" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Represents a 3D rigid body transformation (rotation + translation). </ p >
< p > This class provides an abstraction over 3D transformations using a 3x4 matrix representation, with utilities for conversion to/from Eigen and OpenCV formats, interpolation, inversion, DoF reduction, and distance calculations. It is fundamental to pose estimation and motion handling within the RTAB-Map framework.</ p >
< p > The underlying data is stored in a < code > cv::Mat</ code > (3x4, CV_32FC1), representing a rotation matrix and translation vector. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00052" > 52</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" name = "a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" > ◆  </ a ></ span > Transform() < span class = "overload" > [1/4]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > rtabmap::Transform::Transform </ td >
< td > (</ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r11</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r12</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r13</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > o14</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r21</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r22</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r23</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > o24</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r31</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r32</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > r33</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > o34</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Constructor from rotation matrix elements and translation components. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > r11...r33</ td >< td > Rotation matrix components. </ td ></ tr >
< tr >< td class = "paramname" > o14,o24,o34</ td >< td > Translation vector components. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a82b851897ce2ca729d62fb92dcc48b9f" name = "a82b851897ce2ca729d62fb92dcc48b9f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a82b851897ce2ca729d62fb92dcc48b9f" > ◆  </ a ></ span > Transform() < span class = "overload" > [2/4]</ span ></ h2 >
< div class = "memitem" >
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< table class = "memname" >
< tr >
< td class = "memname" > rtabmap::Transform::Transform </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > transformationMatrix</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from a 3x4 OpenCV matrix. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > transformationMatrix</ td >< td > A 3x4 CV_32FC1 matrix. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a1023adcd1e5d65647e6eda50160c3474" name = "a1023adcd1e5d65647e6eda50160c3474" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1023adcd1e5d65647e6eda50160c3474" > ◆  </ a ></ span > Transform() < span class = "overload" > [3/4]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > rtabmap::Transform::Transform </ td >
< td > (</ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > y</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > z</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > roll</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > pitch</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > yaw</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from position and Euler angles (in radians). </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > x,y,z</ td >< td > Translation components. </ td ></ tr >
< tr >< td class = "paramname" > roll,pitch,yaw</ td >< td > Euler rotation angles (ZYX-convention). </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "af471c17a5e411db55813b766727830f4" name = "af471c17a5e411db55813b766727830f4" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af471c17a5e411db55813b766727830f4" > ◆  </ a ></ span > Transform() < span class = "overload" > [4/4]</ span ></ h2 >
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< tr >
< td class = "memname" > rtabmap::Transform::Transform </ td >
< td > (</ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > y</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > z</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > qx</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > qy</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > qz</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > qw</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
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< p > Constructs a < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > from position and quaternion. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > x,y,z</ td >< td > Translation components. </ td ></ tr >
< tr >< td class = "paramname" > qx,qy,qz,qw</ td >< td > Quaternion rotation components. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a1ea4c945ccf717677606fc7fe0331ccf" name = "a1ea4c945ccf717677606fc7fe0331ccf" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1ea4c945ccf717677606fc7fe0331ccf" > ◆  </ a ></ span > r11()</ h2 >
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< table class = "memname" >
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< td class = "memname" > float rtabmap::Transform::r11 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Rotation matrix element at row 1, col 1. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00096" > 96</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "aa570baa97931fe57160e189ab6589254" name = "aa570baa97931fe57160e189ab6589254" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa570baa97931fe57160e189ab6589254" > ◆  </ a ></ span > r12()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r12 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00097" > 97</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "a7af7f09501af4a42ff3d7bb20993f4c1" name = "a7af7f09501af4a42ff3d7bb20993f4c1" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7af7f09501af4a42ff3d7bb20993f4c1" > ◆  </ a ></ span > r13()</ h2 >
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< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00098" > 98</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "a6eee19333dc310289821afe0365c27d7" name = "a6eee19333dc310289821afe0365c27d7" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6eee19333dc310289821afe0365c27d7" > ◆  </ a ></ span > r21()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r21 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00099" > 99</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0f8580f3e54ec59f1e10a73422221366" > ◆  </ a ></ span > r22()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r22 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00100" > 100</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a56c4e41357f12415e3e505c50ceecaed" > ◆  </ a ></ span > r23()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r23 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00101" > 101</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "aff8aa2fd458b316a1024cb55450c4cb4" name = "aff8aa2fd458b316a1024cb55450c4cb4" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aff8aa2fd458b316a1024cb55450c4cb4" > ◆  </ a ></ span > r31()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r31 </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00102" > 102</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "a1b4d536f5816f263480ea1c082a2f1c6" name = "a1b4d536f5816f263480ea1c082a2f1c6" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1b4d536f5816f263480ea1c082a2f1c6" > ◆  </ a ></ span > r32()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r32 </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00103" > 103</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "aa2588970787ad45766ee30674ce104e6" name = "aa2588970787ad45766ee30674ce104e6" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa2588970787ad45766ee30674ce104e6" > ◆  </ a ></ span > r33()</ h2 >
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< td class = "memname" > float rtabmap::Transform::r33 </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00104" > 104</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "adbdb9063808e63830cbcbd99e1e84d3d" name = "adbdb9063808e63830cbcbd99e1e84d3d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#adbdb9063808e63830cbcbd99e1e84d3d" > ◆  </ a ></ span > o14()</ h2 >
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< td class = "memname" > float rtabmap::Transform::o14 </ td >
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< p > Translation x. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00106" > 106</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "aa68c9c3b75ad7b66ca8bbf66742b0cc5" name = "aa68c9c3b75ad7b66ca8bbf66742b0cc5" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa68c9c3b75ad7b66ca8bbf66742b0cc5" > ◆  </ a ></ span > o24()</ h2 >
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< td class = "memname" > float rtabmap::Transform::o24 </ td >
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< p > Translation y. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00107" > 107</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "a39184351ff5625030b6d1019c0e3d93f" name = "a39184351ff5625030b6d1019c0e3d93f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a39184351ff5625030b6d1019c0e3d93f" > ◆  </ a ></ span > o34()</ h2 >
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< td class = "memname" > float rtabmap::Transform::o34 </ td >
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< p > Translation z. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00108" > 108</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "ac85dfe2d9ebbda325d877767d95ebd70" name = "ac85dfe2d9ebbda325d877767d95ebd70" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac85dfe2d9ebbda325d877767d95ebd70" > ◆  </ a ></ span > operator[]() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > float & rtabmap::Transform::operator[] </ td >
< td > (</ td >
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< td class = "paramname" >< em > index</ em ></ td >< td > )</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00110" > 110</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2a678a34678fc208bbe23495f5158d4b" > ◆  </ a ></ span > operator[]() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > const float & rtabmap::Transform::operator[] </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > index</ em ></ td >< td > )</ td >
< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00111" > 111</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "a46fbd2c3a06ff708f42b926b30bf66ca" name = "a46fbd2c3a06ff708f42b926b30bf66ca" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a46fbd2c3a06ff708f42b926b30bf66ca" > ◆  </ a ></ span > operator()() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > float & rtabmap::Transform::operator() </ td >
< td > (</ td >
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< td class = "paramname" >< em > row</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > col</ em >   </ td >
</ tr >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00112" > 112</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aec3fdc8b25df55b86564f1188a335829" > ◆  </ a ></ span > operator()() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > const float & rtabmap::Transform::operator() </ td >
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< td class = "paramname" >< em > row</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > col</ em >   </ td >
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< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00113" > 113</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aac41c119a4602f70494380303fe5d277" > ◆  </ a ></ span > dataMatrix()</ h2 >
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< td class = "memname" > const cv::Mat & rtabmap::Transform::dataMatrix </ td >
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< p > Returns the internal OpenCV matrix (3x4). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00136" > 136</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8db5709fa16ae937c5221b6e8bbbf364" > ◆  </ a ></ span > data() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > const float * rtabmap::Transform::data </ td >
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< td > const</ td >
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< p > Returns a pointer to the raw data (12 floats). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00140" > 140</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a73485496d15401eb211162bead20ad14" > ◆  </ a ></ span > data() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > float * rtabmap::Transform::data </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00141" > 141</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2cdd55b67e206a287e7bf4d248fb5256" > ◆  </ a ></ span > size()</ h2 >
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< td class = "memname" > int rtabmap::Transform::size </ td >
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< td > const</ td >
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< p > Returns the number of float elements (always 12). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00146" > 146</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a5173dd4491ea0796180d1eb0f88a6762" > ◆  </ a ></ span > x() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > float & rtabmap::Transform::x </ td >
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< p > Translation getters/setters. </ p >
< p > Translation x </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00149" > 149</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "acbb0afe7eb39181f85c2f9734352d6a9" name = "acbb0afe7eb39181f85c2f9734352d6a9" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#acbb0afe7eb39181f85c2f9734352d6a9" > ◆  </ a ></ span > y() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > float & rtabmap::Transform::y </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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< p > Translation y. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00150" > 150</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< a id = "af90acc40bed06ab96468fd17585f1944" name = "af90acc40bed06ab96468fd17585f1944" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af90acc40bed06ab96468fd17585f1944" > ◆  </ a ></ span > z() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > float & rtabmap::Transform::z </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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< p > Translation z. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00151" > 151</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a087f8ce2e16cbe5e45190b4c23947803" > ◆  </ a ></ span > x() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > const float & rtabmap::Transform::x </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00152" > 152</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac117de9860cbf13418d4c08d6069ae92" > ◆  </ a ></ span > y() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > const float & rtabmap::Transform::y </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00153" > 153</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a713d2cd7715d2effab5c5ac0869cf458" > ◆  </ a ></ span > z() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > const float & rtabmap::Transform::z </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00154" > 154</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af42b1c945a7fee57a26207fb96b7143d" > ◆  </ a ></ span > interpolate()</ h2 >
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< td class = "memname" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::interpolate </ td >
< td > (</ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > t</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > other</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > Interpolates between this and another transform. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > t</ td >< td > Interpolation factor [0, 1]. </ td ></ tr >
< tr >< td class = "paramname" > other</ td >< td > Target transform. </ td ></ tr >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abd5f003e72ad31ebc9124385030fce59" > ◆  </ a ></ span > opengl_T_rtabmap()</ h2 >
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< td class = "memname" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::opengl_T_rtabmap </ td >
< td > (</ td >
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< td ></ td >
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< p > Returns the transform from RTAB-Map to OpenGL coordinate system. </ p >
< dl class = "section note" >< dt > Note</ dt >< dd > Coordinate systems:< ul >
< li > OpenGL: x → right, y → up, z → out of the screen (toward viewer).</ li >
< li > RTAB-Map: x → forward, y → left, z → up. </ li >
</ ul >
</ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00289" > 289</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa58ff702a149c05c930195d1ce42012e" > ◆  </ a ></ span > rtabmap_T_opengl()</ h2 >
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< td class = "memname" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::rtabmap_T_opengl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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< p > Returns the transform from OpenGL to RTAB-Map coordinate system. </ p >
< dl class = "section note" >< dt > Note</ dt >< dd > Coordinate systems:< ul >
< li > OpenGL: x → right, y → up, z → out of the screen (toward viewer).</ li >
< li > RTAB-Map: x → forward, y → left, z → up. </ li >
</ ul >
</ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "Transform_8h_source.html#l00299" > 299</ a > of file < a class = "el" href = "Transform_8h_source.html" > Transform.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8358aacfcddec4ab82c43c758cad0b75" > ◆  </ a ></ span > fromString()</ h2 >
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< td class = "memname" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::fromString </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > string</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Parses a transform from a string representation. Supported formats: </ p >
< ul >
< li > (3 values) "x y z"</ li >
< li > (6 values) "x y z roll pitch yaw" (ZYX-Euler convention)</ li >
< li > (7 values) "x y z qx qy qz qw"</ li >
< li > (9 values, 3x3 rotation) "r11 r12 r13 r21 r22 r23 r31 r32 r33"</ li >
</ ul >
< p > (12 values, 3x4 rotation) "r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz" </ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3ebc45da479b4cae9a5641fda6ebaf23" > ◆  </ a ></ span > getTransform()</ h2 >
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< td class = "memname" > static < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::getTransform </ td >
< td > (</ td >
< td class = "paramtype" > const std::map< double, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > tfBuffer</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const double &  </ td >
< td class = "paramname" >< em > stamp</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
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< p > Retrieves the transform to a given timestamp. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > tfBuffer</ td >< td > Buffer of timestamped transforms. </ td ></ tr >
< tr >< td class = "paramname" > stamp</ td >< td > Requested timestamp. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > transform at the requested timestamp, interpolated if it doesn't fall on a transform with the exact same timestamp in the buffer. If the timestamp is older than the oldest timestamp or newer than the latest timestamp in the buffer, a null transform is returned and a warning message is generated. </ dd ></ dl >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab943d72a808b96b7f89943fc78e38d68" > ◆  </ a ></ span > getClosestTransform()</ h2 >
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< td class = "memname" > static RTABMAP_DEPRECATED < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::Transform::getClosestTransform </ td >
< td > (</ td >
< td class = "paramtype" > const std::map< double, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > tfBuffer</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const double &  </ td >
< td class = "paramname" >< em > stamp</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double *  </ td >
< td class = "paramname" >< em > stampDiff</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
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< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000016" > Deprecated:</ a ></ b ></ dt >< dd > Use < a class = "el" href = "classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23" title = "Retrieves the transform to a given timestamp." > getTransform()</ a > instead. </ dd ></ dl >
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</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "Transform_8h_source.html" > Transform.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
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< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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