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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">Transform.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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||||
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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||||
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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||||
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
|
||||
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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||||
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
|
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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||||
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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||||
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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||||
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
||||
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef TRANSFORM_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define TRANSFORM_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <string></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <Eigen/Geometry></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="foldopen" id="foldopen00052" data-start="{" data-end="};">
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html"> 52</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a></div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>{</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a"> 59</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">Transform</a>();</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd"> 65</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">Transform</a>(<span class="keywordtype">float</span> r11, <span class="keywordtype">float</span> r12, <span class="keywordtype">float</span> r13, <span class="keywordtype">float</span> o14,</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">float</span> r21, <span class="keywordtype">float</span> r22, <span class="keywordtype">float</span> r23, <span class="keywordtype">float</span> o24,</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">float</span> r31, <span class="keywordtype">float</span> r32, <span class="keywordtype">float</span> r33, <span class="keywordtype">float</span> o34);</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a82b851897ce2ca729d62fb92dcc48b9f"> 72</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a82b851897ce2ca729d62fb92dcc48b9f">Transform</a>(<span class="keyword">const</span> cv::Mat & transformationMatrix);</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474"> 78</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">Transform</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> yaw);</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af471c17a5e411db55813b766727830f4"> 84</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af471c17a5e411db55813b766727830f4">Transform</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> qx, <span class="keywordtype">float</span> qy, <span class="keywordtype">float</span> qz, <span class="keywordtype">float</span> qw);</div>
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||||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7"> 88</a></span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">Transform</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> theta);</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
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||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a93af73b3a388d66293d007cb164b2198"> 93</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a93af73b3a388d66293d007cb164b2198">clone</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="comment">// --- Accessors (rotation matrix elements, translation) ---</span></div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf"> 96</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf">r11</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[0];} </div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">float</span> r12()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[1];}</div>
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||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">float</span> r13()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[2];}</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">float</span> r21()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[4];}</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">float</span> r22()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[5];}</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">float</span> r23()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[6];}</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">float</span> r31()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[8];}</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">float</span> r32()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[9];}</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">float</span> r33()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[10];}</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#adbdb9063808e63830cbcbd99e1e84d3d"> 106</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#adbdb9063808e63830cbcbd99e1e84d3d">o14</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[3];} </div>
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||||
<div class="foldopen" id="foldopen00107" data-start="{" data-end="}">
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aa68c9c3b75ad7b66ca8bbf66742b0cc5"> 107</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aa68c9c3b75ad7b66ca8bbf66742b0cc5">o24</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[7];} </div>
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<div class="foldopen" id="foldopen00108" data-start="{" data-end="}">
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a39184351ff5625030b6d1019c0e3d93f"> 108</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a39184351ff5625030b6d1019c0e3d93f">o34</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[11];} </div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">float</span> & operator[](<span class="keywordtype">int</span> index) {<span class="keywordflow">return</span> data()[index];}</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> <span class="keywordtype">float</span> & operator[](<span class="keywordtype">int</span> index)<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[index];}</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">float</span> & operator()(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> col) {<span class="keywordflow">return</span> data()[row*4 + col];}</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keyword">const</span> <span class="keywordtype">float</span> & operator()(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> col)<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[row*4 + col];}</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2"> 118</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2">isNull</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9"> 122</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">isIdentity</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af0020cf4093b8b1a3d1f68ee657b3662"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af0020cf4093b8b1a3d1f68ee657b3662">setNull</a>();</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#afe833cfcd56f2f147091e7d309dadb36"> 131</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#afe833cfcd56f2f147091e7d309dadb36">setIdentity</a>();</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aac41c119a4602f70494380303fe5d277"> 136</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1Transform.html#aac41c119a4602f70494380303fe5d277">dataMatrix</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data_;}</div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a8db5709fa16ae937c5221b6e8bbbf364"> 140</a></span> <span class="keyword">const</span> <span class="keywordtype">float</span> * <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8db5709fa16ae937c5221b6e8bbbf364">data</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (<span class="keyword">const</span> <span class="keywordtype">float</span> *)data_.data;}</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">float</span> * data() {<span class="keywordflow">return</span> (<span class="keywordtype">float</span> *)data_.data;}</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a2cdd55b67e206a287e7bf4d248fb5256"> 146</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a2cdd55b67e206a287e7bf4d248fb5256">size</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> 12;}</div>
|
||||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762"> 149</a></span> <span class="keywordtype">float</span> & <a class="code hl_function" href="classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762">x</a>() {<span class="keywordflow">return</span> data()[3];} </div>
|
||||
<div class="foldopen" id="foldopen00150" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9"> 150</a></span> <span class="keywordtype">float</span> & <a class="code hl_function" href="classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9">y</a>() {<span class="keywordflow">return</span> data()[7];} </div>
|
||||
<div class="foldopen" id="foldopen00151" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944"> 151</a></span> <span class="keywordtype">float</span> & <a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>() {<span class="keywordflow">return</span> data()[11];} </div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">const</span> <span class="keywordtype">float</span> & x()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[3];}</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">const</span> <span class="keywordtype">float</span> & y()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[7];}</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> <span class="keywordtype">float</span> & z()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data()[11];}</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#acc7f19107da9b048a43497f93dd39582"> 159</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#acc7f19107da9b048a43497f93dd39582">theta</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#addc1c06517c7308f00bd54b5744aa959"> 164</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#addc1c06517c7308f00bd54b5744aa959">isInvertible</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a71ff72d5731d252a87a19c63e3890e3a"> 168</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a71ff72d5731d252a87a19c63e3890e3a">inverse</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aeed78122de7f78a13641802b964d9631"> 172</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aeed78122de7f78a13641802b964d9631">rotation</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e"> 176</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">translation</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a3a1b7b3d9f2db760b8eff9f3f90cd405"> 180</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a3a1b7b3d9f2db760b8eff9f3f90cd405">to3DoF</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a9b0c23cbc2d0938b8da638930cb109de"> 184</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a9b0c23cbc2d0938b8da638930cb109de">to4DoF</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a61c6a6acf6b149caa67918331d73004a"> 188</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a61c6a6acf6b149caa67918331d73004a">is3DoF</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#adaa07bac5d863d028d277b84880aeaab"> 192</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#adaa07bac5d863d028d277b84880aeaab">is4DoF</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a23dfabecb7b2ad9c6a7fdcde08d900ab"> 197</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Transform.html#a23dfabecb7b2ad9c6a7fdcde08d900ab">rotationMatrix</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e"> 201</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">translationMatrix</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> </div>
|
||||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af"> 206</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">getTranslationAndEulerAngles</a>(<span class="keywordtype">float</span> & x, <span class="keywordtype">float</span> & y, <span class="keywordtype">float</span> & z, <span class="keywordtype">float</span> & roll, <span class="keywordtype">float</span> & pitch, <span class="keywordtype">float</span> & yaw) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525"> 210</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">getEulerAngles</a>(<span class="keywordtype">float</span> & roll, <span class="keywordtype">float</span> & pitch, <span class="keywordtype">float</span> & yaw) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a3393daecc17559c66156ba3eb0711875"> 214</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a3393daecc17559c66156ba3eb0711875">getTranslation</a>(<span class="keywordtype">float</span> & x, <span class="keywordtype">float</span> & y, <span class="keywordtype">float</span> & z) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#abd0f443c22c295cfe85e2402516defcc"> 218</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#abd0f443c22c295cfe85e2402516defcc">getAngle</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af3c46b76fe855b0334a7f255792a6082"> 222</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af3c46b76fe855b0334a7f255792a6082">getNorm</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aee7765828eb454015b4deb72d70a034a"> 226</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aee7765828eb454015b4deb72d70a034a">getNormSquared</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#ade8f4e91576b320690741efa817bd7ad"> 230</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#ade8f4e91576b320690741efa817bd7ad">getDistance</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#ae311741cc884ca8f5343bc2710b96a0b"> 234</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#ae311741cc884ca8f5343bc2710b96a0b">getDistanceSquared</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af42b1c945a7fee57a26207fb96b7143d"> 240</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af42b1c945a7fee57a26207fb96b7143d">interpolate</a>(<span class="keywordtype">float</span> t, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & other) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#acbdd19971643c7400cb59055ec64d3cf"> 244</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#acbdd19971643c7400cb59055ec64d3cf">normalizeRotation</a>();</div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818"> 248</a></span> std::string <a class="code hl_function" href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818">prettyPrint</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> </div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a4d70ff21bbb61cd65c2d00130d8f84a7"> 251</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a4d70ff21bbb61cd65c2d00130d8f84a7">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & operator*=(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t);</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">bool</span> operator!=(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="comment">// --- Eigen conversions ---</span></div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> Eigen::Matrix4f toEigen4f() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> Eigen::Matrix4d toEigen4d() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> Eigen::Affine3f toEigen3f() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> Eigen::Affine3d toEigen3d() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div>
|
||||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> Eigen::Quaternionf getQuaternionf() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> Eigen::Quaterniond getQuaterniond() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="comment">// --- Static helpers ---</span></div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2"> 271</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">getIdentity</a>();</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aed17615176c1c3e6fdc682232b753d29"> 274</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aed17615176c1c3e6fdc682232b753d29">fromEigen4f</a>(<span class="keyword">const</span> Eigen::Matrix4f & matrix);</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen4d(<span class="keyword">const</span> Eigen::Matrix4d & matrix);</div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3f(<span class="keyword">const</span> Eigen::Affine3f & matrix);</div>
|
||||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3d(<span class="keyword">const</span> Eigen::Affine3d & matrix);</div>
|
||||
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3f(<span class="keyword">const</span> Eigen::Isometry3f & matrix);</div>
|
||||
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3d(<span class="keyword">const</span> Eigen::Isometry3d & matrix);</div>
|
||||
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3f(<span class="keyword">const</span> Eigen::Matrix<float, 3, 4> & matrix);</div>
|
||||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fromEigen3d(<span class="keyword">const</span> Eigen::Matrix<double, 3, 4> & matrix);</div>
|
||||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
|
||||
<div class="foldopen" id="foldopen00289" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#abd5f003e72ad31ebc9124385030fce59"> 289</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#abd5f003e72ad31ebc9124385030fce59">opengl_T_rtabmap</a>() {<span class="keywordflow">return</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(</div>
|
||||
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> 0.0f, -1.0f, 0.0f, 0.0f,</div>
|
||||
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> 0.0f, 0.0f, 1.0f, 0.0f,</div>
|
||||
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> -1.0f, 0.0f, 0.0f, 0.0f);}</div>
|
||||
</div>
|
||||
<div class="foldopen" id="foldopen00299" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#aa58ff702a149c05c930195d1ce42012e"> 299</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#aa58ff702a149c05c930195d1ce42012e">rtabmap_T_opengl</a>() {<span class="keywordflow">return</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(</div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> 0.0f, 0.0f,-1.0f, 0.0f,</div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> -1.0f, 0.0f, 0.0f, 0.0f,</div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> 0.0f, 1.0f, 0.0f, 0.0f);}</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a8358aacfcddec4ab82c43c758cad0b75"> 313</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8358aacfcddec4ab82c43c758cad0b75">fromString</a>(<span class="keyword">const</span> std::string & <span class="keywordtype">string</span>);</div>
|
||||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639"> 317</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">canParseString</a>(<span class="keyword">const</span> std::string & <span class="keywordtype">string</span>);</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> </div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23"> 328</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23">getTransform</a>(</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> std::map<double, Transform> & tfBuffer,</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">const</span> <span class="keywordtype">double</span> & stamp);</div>
|
||||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Transform.html#ab943d72a808b96b7f89943fc78e38d68"> 334</a></span> RTABMAP_DEPRECATED <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Transform.html#ab943d72a808b96b7f89943fc78e38d68">getClosestTransform</a>(</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">const</span> std::map<double, Transform> & tfBuffer,</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">const</span> <span class="keywordtype">double</span> & stamp,</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">double</span> * stampDiff);</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> </div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> cv::Mat data_; </div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span>};</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> </div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"><a class="line" href="namespacertabmap.html#aef0e1f1b121a9199e7511becbc8f1e32"> 346</a></span>RTABMAP_CORE_EXPORT std::ostream& <a class="code hl_function" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">operator<<</a>(std::ostream& os, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>& s);</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> </div>
|
||||
<div class="foldopen" id="foldopen00352" data-start="{" data-end="};">
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"><a class="line" href="classrtabmap_1_1TransformStamped.html"> 352</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1TransformStamped.html">TransformStamped</a></div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span>{</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span><span class="keyword">public</span>:</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <a class="code hl_class" href="classrtabmap_1_1TransformStamped.html">TransformStamped</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform, <span class="keyword">const</span> <span class="keywordtype">double</span> & stamp) :</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> transform_(transform),</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> stamp_(stamp)</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> {}</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform()<span class="keyword"> const </span>{<span class="keywordflow">return</span> transform_;}</div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">const</span> <span class="keywordtype">double</span> & stamp()<span class="keyword"> const </span>{<span class="keywordflow">return</span> stamp_;}</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform_;</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keywordtype">double</span> stamp_;</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> </div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span>}</div>
|
||||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> </div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span><span class="preprocessor">#endif </span><span class="comment">/* TRANSFORM_H_ */</span><span class="preprocessor"></span></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1TransformStamped_html"><div class="ttname"><a href="classrtabmap_1_1TransformStamped.html">rtabmap::TransformStamped</a></div><div class="ttdoc">Associates a transform with a timestamp.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00352">Transform.h:353</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a0d6a1985391a45de4fe208e58c51b9d2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2">rtabmap::Transform::isNull</a></div><div class="ttdeci">bool isNull() const</div><div class="ttdoc">Checks whether the transform is null (all zeros).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a1023adcd1e5d65647e6eda50160c3474"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform(float x, float y, float z, float roll, float pitch, float yaw)</div><div class="ttdoc">Constructs a Transform from position and Euler angles (in radians).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a1ea4c945ccf717677606fc7fe0331ccf"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a1ea4c945ccf717677606fc7fe0331ccf">rtabmap::Transform::r11</a></div><div class="ttdeci">float r11() const</div><div class="ttdoc">Rotation matrix element at row 1, col 1.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00096">Transform.h:96</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a23dfabecb7b2ad9c6a7fdcde08d900ab"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a23dfabecb7b2ad9c6a7fdcde08d900ab">rtabmap::Transform::rotationMatrix</a></div><div class="ttdeci">cv::Mat rotationMatrix() const</div><div class="ttdoc">Returns the 3x3 rotation matrix (cv::Mat).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a2cdd55b67e206a287e7bf4d248fb5256"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a2cdd55b67e206a287e7bf4d248fb5256">rtabmap::Transform::size</a></div><div class="ttdeci">int size() const</div><div class="ttdoc">Returns the number of float elements (always 12).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00146">Transform.h:146</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a3393daecc17559c66156ba3eb0711875"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a3393daecc17559c66156ba3eb0711875">rtabmap::Transform::getTranslation</a></div><div class="ttdeci">void getTranslation(float &x, float &y, float &z) const</div><div class="ttdoc">Extracts translation only.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a39184351ff5625030b6d1019c0e3d93f"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a39184351ff5625030b6d1019c0e3d93f">rtabmap::Transform::o34</a></div><div class="ttdeci">float o34() const</div><div class="ttdoc">Translation z.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00108">Transform.h:108</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a3a1b7b3d9f2db760b8eff9f3f90cd405"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a3a1b7b3d9f2db760b8eff9f3f90cd405">rtabmap::Transform::to3DoF</a></div><div class="ttdeci">Transform to3DoF() const</div><div class="ttdoc">Converts to 3 DoF (x, y, theta).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a3ebc45da479b4cae9a5641fda6ebaf23"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23">rtabmap::Transform::getTransform</a></div><div class="ttdeci">static Transform getTransform(const std::map< double, Transform > &tfBuffer, const double &stamp)</div><div class="ttdoc">Retrieves the transform to a given timestamp.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a4d70ff21bbb61cd65c2d00130d8f84a7"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a4d70ff21bbb61cd65c2d00130d8f84a7">rtabmap::Transform::operator*</a></div><div class="ttdeci">Transform operator*(const Transform &t) const</div><div class="ttdoc">Operator overloads.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a5173dd4491ea0796180d1eb0f88a6762"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a5173dd4491ea0796180d1eb0f88a6762">rtabmap::Transform::x</a></div><div class="ttdeci">float & x()</div><div class="ttdoc">Translation getters/setters.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00149">Transform.h:149</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a61c6a6acf6b149caa67918331d73004a"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a61c6a6acf6b149caa67918331d73004a">rtabmap::Transform::is3DoF</a></div><div class="ttdeci">bool is3DoF() const</div><div class="ttdoc">Checks if the transform is 3 DoF (no pitch/roll).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a61ff0bf933e0e7f220f20745df3d0818"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818">rtabmap::Transform::prettyPrint</a></div><div class="ttdeci">std::string prettyPrint() const</div><div class="ttdoc">Returns a string representation of the transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a6a7bb81847554509d1128238860c047e"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform::translationMatrix</a></div><div class="ttdeci">cv::Mat translationMatrix() const</div><div class="ttdoc">Returns the 3x1 translation matrix (cv::Mat).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a71ff72d5731d252a87a19c63e3890e3a"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a71ff72d5731d252a87a19c63e3890e3a">rtabmap::Transform::inverse</a></div><div class="ttdeci">Transform inverse() const</div><div class="ttdoc">Returns the inverse of the transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a82b851897ce2ca729d62fb92dcc48b9f"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a82b851897ce2ca729d62fb92dcc48b9f">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform(const cv::Mat &transformationMatrix)</div><div class="ttdoc">Constructs a Transform from a 3x4 OpenCV matrix.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a8358aacfcddec4ab82c43c758cad0b75"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8358aacfcddec4ab82c43c758cad0b75">rtabmap::Transform::fromString</a></div><div class="ttdeci">static Transform fromString(const std::string &string)</div><div class="ttdoc">Parses a transform from a string representation. Supported formats:</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a8db5709fa16ae937c5221b6e8bbbf364"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8db5709fa16ae937c5221b6e8bbbf364">rtabmap::Transform::data</a></div><div class="ttdeci">const float * data() const</div><div class="ttdoc">Returns a pointer to the raw data (12 floats).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00140">Transform.h:140</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">rtabmap::Transform::getIdentity</a></div><div class="ttdeci">static Transform getIdentity()</div><div class="ttdoc">Returns identity transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a93af73b3a388d66293d007cb164b2198"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a93af73b3a388d66293d007cb164b2198">rtabmap::Transform::clone</a></div><div class="ttdeci">Transform clone() const</div><div class="ttdoc">Returns a deep copy of the transform.</div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a9b0c23cbc2d0938b8da638930cb109de"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a9b0c23cbc2d0938b8da638930cb109de">rtabmap::Transform::to4DoF</a></div><div class="ttdeci">Transform to4DoF() const</div><div class="ttdoc">Converts to 4 DoF (x, y, z, yaw).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a9b89b8bbe9cd75986bcb1ba6ceb5b9cd"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform(float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)</div><div class="ttdoc">Constructor from rotation matrix elements and translation components.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html_aa58ff702a149c05c930195d1ce42012e"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aa58ff702a149c05c930195d1ce42012e">rtabmap::Transform::rtabmap_T_opengl</a></div><div class="ttdeci">static Transform rtabmap_T_opengl()</div><div class="ttdoc">Returns the transform from OpenGL to RTAB-Map coordinate system.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00299">Transform.h:299</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html_aa68c9c3b75ad7b66ca8bbf66742b0cc5"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aa68c9c3b75ad7b66ca8bbf66742b0cc5">rtabmap::Transform::o24</a></div><div class="ttdeci">float o24() const</div><div class="ttdoc">Translation y.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00107">Transform.h:107</a></div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aac41c119a4602f70494380303fe5d277"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aac41c119a4602f70494380303fe5d277">rtabmap::Transform::dataMatrix</a></div><div class="ttdeci">const cv::Mat & dataMatrix() const</div><div class="ttdoc">Returns the internal OpenCV matrix (3x4).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00136">Transform.h:136</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aad65adff491fd57a31dbe4e26d7f29af"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">rtabmap::Transform::getTranslationAndEulerAngles</a></div><div class="ttdeci">void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const</div><div class="ttdoc">Extracts translation and Euler angles (radians).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_ab943d72a808b96b7f89943fc78e38d68"><div class="ttname"><a href="classrtabmap_1_1Transform.html#ab943d72a808b96b7f89943fc78e38d68">rtabmap::Transform::getClosestTransform</a></div><div class="ttdeci">static RTABMAP_DEPRECATED Transform getClosestTransform(const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_abd0f443c22c295cfe85e2402516defcc"><div class="ttname"><a href="classrtabmap_1_1Transform.html#abd0f443c22c295cfe85e2402516defcc">rtabmap::Transform::getAngle</a></div><div class="ttdeci">float getAngle(const Transform &t) const</div><div class="ttdoc">Returns angular difference (in radians) with another transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_abd5f003e72ad31ebc9124385030fce59"><div class="ttname"><a href="classrtabmap_1_1Transform.html#abd5f003e72ad31ebc9124385030fce59">rtabmap::Transform::opengl_T_rtabmap</a></div><div class="ttdeci">static Transform opengl_T_rtabmap()</div><div class="ttdoc">Returns the transform from RTAB-Map to OpenGL coordinate system.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00289">Transform.h:289</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_ac3654d3f6802d4b0c17b6110d1eda71a"><div class="ttname"><a href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform()</div><div class="ttdoc">Default constructor. Initializes to a null (all zeros) transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_acbb0afe7eb39181f85c2f9734352d6a9"><div class="ttname"><a href="classrtabmap_1_1Transform.html#acbb0afe7eb39181f85c2f9734352d6a9">rtabmap::Transform::y</a></div><div class="ttdeci">float & y()</div><div class="ttdoc">Translation y.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00150">Transform.h:150</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_acbdd19971643c7400cb59055ec64d3cf"><div class="ttname"><a href="classrtabmap_1_1Transform.html#acbdd19971643c7400cb59055ec64d3cf">rtabmap::Transform::normalizeRotation</a></div><div class="ttdeci">void normalizeRotation()</div><div class="ttdoc">Normalizes the rotation matrix.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_acc7f19107da9b048a43497f93dd39582"><div class="ttname"><a href="classrtabmap_1_1Transform.html#acc7f19107da9b048a43497f93dd39582">rtabmap::Transform::theta</a></div><div class="ttdeci">float theta() const</div><div class="ttdoc">Returns 2D orientation (theta) in radians.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_adaa07bac5d863d028d277b84880aeaab"><div class="ttname"><a href="classrtabmap_1_1Transform.html#adaa07bac5d863d028d277b84880aeaab">rtabmap::Transform::is4DoF</a></div><div class="ttdeci">bool is4DoF() const</div><div class="ttdoc">Checks if the transform is 4 DoF (no pitch).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_adbdb9063808e63830cbcbd99e1e84d3d"><div class="ttname"><a href="classrtabmap_1_1Transform.html#adbdb9063808e63830cbcbd99e1e84d3d">rtabmap::Transform::o14</a></div><div class="ttdeci">float o14() const</div><div class="ttdoc">Translation x.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00106">Transform.h:106</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_addc1c06517c7308f00bd54b5744aa959"><div class="ttname"><a href="classrtabmap_1_1Transform.html#addc1c06517c7308f00bd54b5744aa959">rtabmap::Transform::isInvertible</a></div><div class="ttdeci">bool isInvertible() const</div><div class="ttdoc">Returns whether the transform is invertible.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_ade8f4e91576b320690741efa817bd7ad"><div class="ttname"><a href="classrtabmap_1_1Transform.html#ade8f4e91576b320690741efa817bd7ad">rtabmap::Transform::getDistance</a></div><div class="ttdeci">float getDistance(const Transform &t) const</div><div class="ttdoc">Returns the Euclidean distance to another transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_adf2345af30927b656ceca938ec4d0525"><div class="ttname"><a href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">rtabmap::Transform::getEulerAngles</a></div><div class="ttdeci">void getEulerAngles(float &roll, float &pitch, float &yaw) const</div><div class="ttdoc">Extracts Euler angles (roll, pitch, yaw).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_ae0636052ce31698d4d45afe4492ffab9"><div class="ttname"><a href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">rtabmap::Transform::isIdentity</a></div><div class="ttdeci">bool isIdentity() const</div><div class="ttdoc">Checks whether the transform is identity.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_ae311741cc884ca8f5343bc2710b96a0b"><div class="ttname"><a href="classrtabmap_1_1Transform.html#ae311741cc884ca8f5343bc2710b96a0b">rtabmap::Transform::getDistanceSquared</a></div><div class="ttdeci">float getDistanceSquared(const Transform &t) const</div><div class="ttdoc">Returns the squared distance to another transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aed17615176c1c3e6fdc682232b753d29"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aed17615176c1c3e6fdc682232b753d29">rtabmap::Transform::fromEigen4f</a></div><div class="ttdeci">static Transform fromEigen4f(const Eigen::Matrix4f &matrix)</div><div class="ttdoc">Converts from Eigen representations.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aee7765828eb454015b4deb72d70a034a"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aee7765828eb454015b4deb72d70a034a">rtabmap::Transform::getNormSquared</a></div><div class="ttdeci">float getNormSquared() const</div><div class="ttdoc">Returns the squared norm of the translation vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aeeb0bbe0e84a9e46f63086c3ff4d4e0e"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform::translation</a></div><div class="ttdeci">Transform translation() const</div><div class="ttdoc">Returns only the translation component.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aeed78122de7f78a13641802b964d9631"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aeed78122de7f78a13641802b964d9631">rtabmap::Transform::rotation</a></div><div class="ttdeci">Transform rotation() const</div><div class="ttdoc">Returns only the rotation component.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af0020cf4093b8b1a3d1f68ee657b3662"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af0020cf4093b8b1a3d1f68ee657b3662">rtabmap::Transform::setNull</a></div><div class="ttdeci">void setNull()</div><div class="ttdoc">Sets the transform to null (zero matrix).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af3c46b76fe855b0334a7f255792a6082"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af3c46b76fe855b0334a7f255792a6082">rtabmap::Transform::getNorm</a></div><div class="ttdeci">float getNorm() const</div><div class="ttdoc">Returns the Euclidean norm of the translation vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af42b1c945a7fee57a26207fb96b7143d"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af42b1c945a7fee57a26207fb96b7143d">rtabmap::Transform::interpolate</a></div><div class="ttdeci">Transform interpolate(float t, const Transform &other) const</div><div class="ttdoc">Interpolates between this and another transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af434ccbc426920a1b35ecbf4eec226e7"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform(float x, float y, float theta)</div><div class="ttdoc">Constructs a 2D Transform (x, y, theta).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af44657c8360a79a67e538f25027df639"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform::canParseString</a></div><div class="ttdeci">static bool canParseString(const std::string &string)</div><div class="ttdoc">Checks if a string can be parsed into a transform.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af471c17a5e411db55813b766727830f4"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af471c17a5e411db55813b766727830f4">rtabmap::Transform::Transform</a></div><div class="ttdeci">Transform(float x, float y, float z, float qx, float qy, float qz, float qw)</div><div class="ttdoc">Constructs a Transform from position and quaternion.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_af90acc40bed06ab96468fd17585f1944"><div class="ttname"><a href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">rtabmap::Transform::z</a></div><div class="ttdeci">float & z()</div><div class="ttdoc">Translation z.</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00151">Transform.h:151</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_afe833cfcd56f2f147091e7d309dadb36"><div class="ttname"><a href="classrtabmap_1_1Transform.html#afe833cfcd56f2f147091e7d309dadb36">rtabmap::Transform::setIdentity</a></div><div class="ttdeci">void setIdentity()</div><div class="ttdoc">Sets the transform to the identity transform.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html_a087b7a1b89acb679edee23883653f1a7"><div class="ttname"><a href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">rtabmap::operator<<</a></div><div class="ttdeci">RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)</div><div class="ttdoc">Stream operator for printing a camera model to an output stream.</div></div>
|
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