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<a href="#pub-methods">Public Member Functions</a> |
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<p>Represents a 3D rigid body transformation (rotation + translation).
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<a href="classrtabmap_1_1Transform.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="Transform_8h_source.html">Transform.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ac3654d3f6802d4b0c17b6110d1eda71a" id="r_ac3654d3f6802d4b0c17b6110d1eda71a"><td class="memItemLeft" align="right" valign="top"><a id="ac3654d3f6802d4b0c17b6110d1eda71a" name="ac3654d3f6802d4b0c17b6110d1eda71a"></a>
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 </td><td class="memItemRight" valign="bottom"><b>Transform</b> ()</td></tr>
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<tr class="memdesc:ac3654d3f6802d4b0c17b6110d1eda71a"><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. Initializes to a null (all zeros) transform. <br /></td></tr>
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<tr class="separator:ac3654d3f6802d4b0c17b6110d1eda71a"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a9b89b8bbe9cd75986bcb1ba6ceb5b9cd"><td class="mdescLeft"> </td><td class="mdescRight">Constructor from rotation matrix elements and translation components. <br /></td></tr>
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<tr class="separator:a9b89b8bbe9cd75986bcb1ba6ceb5b9cd"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a82b851897ce2ca729d62fb92dcc48b9f"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a1023adcd1e5d65647e6eda50160c3474"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:af471c17a5e411db55813b766727830f4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af434ccbc426920a1b35ecbf4eec226e7" id="r_af434ccbc426920a1b35ecbf4eec226e7"><td class="memItemLeft" align="right" valign="top"><a id="af434ccbc426920a1b35ecbf4eec226e7" name="af434ccbc426920a1b35ecbf4eec226e7"></a>
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 </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>
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<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>
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<tr class="separator:af434ccbc426920a1b35ecbf4eec226e7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a93af73b3a388d66293d007cb164b2198" id="r_a93af73b3a388d66293d007cb164b2198"><td class="memItemLeft" align="right" valign="top"><a id="a93af73b3a388d66293d007cb164b2198" name="a93af73b3a388d66293d007cb164b2198"></a>
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<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>clone</b> () const</td></tr>
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<tr class="memdesc:a93af73b3a388d66293d007cb164b2198"><td class="mdescLeft"> </td><td class="mdescRight">Returns a deep copy of the transform. <br /></td></tr>
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<tr class="separator:a93af73b3a388d66293d007cb164b2198"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a1ea4c945ccf717677606fc7fe0331ccf"><td class="mdescLeft"> </td><td class="mdescRight">Rotation matrix element at row 1, col 1. <br /></td></tr>
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<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>
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<tr class="separator:aa570baa97931fe57160e189ab6589254"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<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>
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<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>
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<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>
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<tr class="separator:aff8aa2fd458b316a1024cb55450c4cb4"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<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>
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<tr class="memdesc:adbdb9063808e63830cbcbd99e1e84d3d"><td class="mdescLeft"> </td><td class="mdescRight">Translation x. <br /></td></tr>
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<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>
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<tr class="memdesc:aa68c9c3b75ad7b66ca8bbf66742b0cc5"><td class="mdescLeft"> </td><td class="mdescRight">Translation y. <br /></td></tr>
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<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>
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<tr class="memdesc:a39184351ff5625030b6d1019c0e3d93f"><td class="mdescLeft"> </td><td class="mdescRight">Translation z. <br /></td></tr>
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<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>
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<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>
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bool </td><td class="memItemRight" valign="bottom"><b>isNull</b> () const</td></tr>
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<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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<tr class="memitem:ae0636052ce31698d4d45afe4492ffab9" id="r_ae0636052ce31698d4d45afe4492ffab9"><td class="memItemLeft" align="right" valign="top"><a id="ae0636052ce31698d4d45afe4492ffab9" name="ae0636052ce31698d4d45afe4492ffab9"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>isIdentity</b> () const</td></tr>
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<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>
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void </td><td class="memItemRight" valign="bottom"><b>setNull</b> ()</td></tr>
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<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>
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void </td><td class="memItemRight" valign="bottom"><b>setIdentity</b> ()</td></tr>
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<tr class="memdesc:afe833cfcd56f2f147091e7d309dadb36"><td class="mdescLeft"> </td><td class="mdescRight">Sets the transform to the identity transform. <br /></td></tr>
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<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>
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<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="separator:aac41c119a4602f70494380303fe5d277"><td class="memSeparator" colspan="2"> </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>
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<tr class="memdesc:a8db5709fa16ae937c5221b6e8bbbf364"><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the raw data (12 floats). <br /></td></tr>
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<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>
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<tr class="separator:a73485496d15401eb211162bead20ad14"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a2cdd55b67e206a287e7bf4d248fb5256"><td class="mdescLeft"> </td><td class="mdescRight">Returns the number of float elements (always 12). <br /></td></tr>
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<tr class="separator:a2cdd55b67e206a287e7bf4d248fb5256"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a5173dd4491ea0796180d1eb0f88a6762"><td class="mdescLeft"> </td><td class="mdescRight">Translation getters/setters. <br /></td></tr>
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<tr class="separator:a5173dd4491ea0796180d1eb0f88a6762"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:acbb0afe7eb39181f85c2f9734352d6a9"><td class="mdescLeft"> </td><td class="mdescRight">Translation y. <br /></td></tr>
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<tr class="separator:acbb0afe7eb39181f85c2f9734352d6a9"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:af90acc40bed06ab96468fd17585f1944"><td class="mdescLeft"> </td><td class="mdescRight">Translation z. <br /></td></tr>
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<tr class="separator:af90acc40bed06ab96468fd17585f1944"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a087f8ce2e16cbe5e45190b4c23947803"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:ac117de9860cbf13418d4c08d6069ae92"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a713d2cd7715d2effab5c5ac0869cf458"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acc7f19107da9b048a43497f93dd39582" id="r_acc7f19107da9b048a43497f93dd39582"><td class="memItemLeft" align="right" valign="top"><a id="acc7f19107da9b048a43497f93dd39582" name="acc7f19107da9b048a43497f93dd39582"></a>
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float </td><td class="memItemRight" valign="bottom"><b>theta</b> () const</td></tr>
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<tr class="memdesc:acc7f19107da9b048a43497f93dd39582"><td class="mdescLeft"> </td><td class="mdescRight">Returns 2D orientation (theta) in radians. <br /></td></tr>
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<tr class="memitem:addc1c06517c7308f00bd54b5744aa959" id="r_addc1c06517c7308f00bd54b5744aa959"><td class="memItemLeft" align="right" valign="top"><a id="addc1c06517c7308f00bd54b5744aa959" name="addc1c06517c7308f00bd54b5744aa959"></a>
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bool </td><td class="memItemRight" valign="bottom"><b>isInvertible</b> () const</td></tr>
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<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>
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<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>inverse</b> () const</td></tr>
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<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="separator:a71ff72d5731d252a87a19c63e3890e3a"><td class="memSeparator" colspan="2"> </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>
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<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>rotation</b> () const</td></tr>
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<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="separator:aeed78122de7f78a13641802b964d9631"><td class="memSeparator" colspan="2"> </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>
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<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>translation</b> () const</td></tr>
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<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="separator:aeeb0bbe0e84a9e46f63086c3ff4d4e0e"><td class="memSeparator" colspan="2"> </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>
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<a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>to3DoF</b> () const</td></tr>
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<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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<tr class="memitem:a9b0c23cbc2d0938b8da638930cb109de" id="r_a9b0c23cbc2d0938b8da638930cb109de"><td class="memItemLeft" align="right" valign="top"><a id="a9b0c23cbc2d0938b8da638930cb109de" name="a9b0c23cbc2d0938b8da638930cb109de"></a>
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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>
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<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>
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bool </td><td class="memItemRight" valign="bottom"><b>is3DoF</b> () const</td></tr>
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<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>
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bool </td><td class="memItemRight" valign="bottom"><b>is4DoF</b> () const</td></tr>
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<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>
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cv::Mat </td><td class="memItemRight" valign="bottom"><b>rotationMatrix</b> () const</td></tr>
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<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>
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cv::Mat </td><td class="memItemRight" valign="bottom"><b>translationMatrix</b> () const</td></tr>
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<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>
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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>
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<tr class="memdesc:aad65adff491fd57a31dbe4e26d7f29af"><td class="mdescLeft"> </td><td class="mdescRight">Extracts translation and Euler angles (radians). <br /></td></tr>
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<tr class="memitem:adf2345af30927b656ceca938ec4d0525" id="r_adf2345af30927b656ceca938ec4d0525"><td class="memItemLeft" align="right" valign="top"><a id="adf2345af30927b656ceca938ec4d0525" name="adf2345af30927b656ceca938ec4d0525"></a>
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void </td><td class="memItemRight" valign="bottom"><b>getEulerAngles</b> (float &roll, float &pitch, float &yaw) const</td></tr>
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<tr class="memdesc:adf2345af30927b656ceca938ec4d0525"><td class="mdescLeft"> </td><td class="mdescRight">Extracts Euler angles (roll, pitch, yaw). <br /></td></tr>
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<tr class="memitem:a3393daecc17559c66156ba3eb0711875" id="r_a3393daecc17559c66156ba3eb0711875"><td class="memItemLeft" align="right" valign="top"><a id="a3393daecc17559c66156ba3eb0711875" name="a3393daecc17559c66156ba3eb0711875"></a>
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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>
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<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>
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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>
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<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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<tr class="separator:abd0f443c22c295cfe85e2402516defcc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af3c46b76fe855b0334a7f255792a6082" id="r_af3c46b76fe855b0334a7f255792a6082"><td class="memItemLeft" align="right" valign="top"><a id="af3c46b76fe855b0334a7f255792a6082" name="af3c46b76fe855b0334a7f255792a6082"></a>
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float </td><td class="memItemRight" valign="bottom"><b>getNorm</b> () const</td></tr>
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<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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<tr class="memitem:aee7765828eb454015b4deb72d70a034a" id="r_aee7765828eb454015b4deb72d70a034a"><td class="memItemLeft" align="right" valign="top"><a id="aee7765828eb454015b4deb72d70a034a" name="aee7765828eb454015b4deb72d70a034a"></a>
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float </td><td class="memItemRight" valign="bottom"><b>getNormSquared</b> () const</td></tr>
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<tr class="memdesc:aee7765828eb454015b4deb72d70a034a"><td class="mdescLeft"> </td><td class="mdescRight">Returns the squared norm of the translation vector. <br /></td></tr>
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<tr class="memitem:ade8f4e91576b320690741efa817bd7ad" id="r_ade8f4e91576b320690741efa817bd7ad"><td class="memItemLeft" align="right" valign="top"><a id="ade8f4e91576b320690741efa817bd7ad" name="ade8f4e91576b320690741efa817bd7ad"></a>
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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>
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<tr class="memdesc:ade8f4e91576b320690741efa817bd7ad"><td class="mdescLeft"> </td><td class="mdescRight">Returns the Euclidean distance to another transform. <br /></td></tr>
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<tr class="memitem:ae311741cc884ca8f5343bc2710b96a0b" id="r_ae311741cc884ca8f5343bc2710b96a0b"><td class="memItemLeft" align="right" valign="top"><a id="ae311741cc884ca8f5343bc2710b96a0b" name="ae311741cc884ca8f5343bc2710b96a0b"></a>
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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>
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<tr class="memdesc:ae311741cc884ca8f5343bc2710b96a0b"><td class="mdescLeft"> </td><td class="mdescRight">Returns the squared distance to another transform. <br /></td></tr>
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<tr class="separator:ae311741cc884ca8f5343bc2710b96a0b"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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void </td><td class="memItemRight" valign="bottom"><b>normalizeRotation</b> ()</td></tr>
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<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>
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std::string </td><td class="memItemRight" valign="bottom"><b>prettyPrint</b> () const</td></tr>
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<tr class="memdesc:a61ff0bf933e0e7f220f20745df3d0818"><td class="mdescLeft"> </td><td class="mdescRight">Returns a string representation of the transform. <br /></td></tr>
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<tr class="memitem:a4d70ff21bbb61cd65c2d00130d8f84a7" id="r_a4d70ff21bbb61cd65c2d00130d8f84a7"><td class="memItemLeft" align="right" valign="top"><a id="a4d70ff21bbb61cd65c2d00130d8f84a7" name="a4d70ff21bbb61cd65c2d00130d8f84a7"></a>
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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) const</td></tr>
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<tr class="memdesc:a4d70ff21bbb61cd65c2d00130d8f84a7"><td class="mdescLeft"> </td><td class="mdescRight">Operator overloads. <br /></td></tr>
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<tr class="memitem:a613d0a9b3a7c50ae1e5e99427c1984c8" id="r_a613d0a9b3a7c50ae1e5e99427c1984c8"><td class="memItemLeft" align="right" valign="top"><a id="a613d0a9b3a7c50ae1e5e99427c1984c8" name="a613d0a9b3a7c50ae1e5e99427c1984c8"></a>
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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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<tr class="memitem:a02327cd9e7a185a8c1cca8d22fd23310" id="r_a02327cd9e7a185a8c1cca8d22fd23310"><td class="memItemLeft" align="right" valign="top"><a id="a02327cd9e7a185a8c1cca8d22fd23310" name="a02327cd9e7a185a8c1cca8d22fd23310"></a>
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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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<tr class="memitem:a0c88e127a22d4312c8867e1926c662ff" id="r_a0c88e127a22d4312c8867e1926c662ff"><td class="memItemLeft" align="right" valign="top"><a id="a0c88e127a22d4312c8867e1926c662ff" name="a0c88e127a22d4312c8867e1926c662ff"></a>
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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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<tr class="memitem:a1cb08be14adcabc0999eca4db3c67812" id="r_a1cb08be14adcabc0999eca4db3c67812"><td class="memItemLeft" align="right" valign="top"><a id="a1cb08be14adcabc0999eca4db3c67812" name="a1cb08be14adcabc0999eca4db3c67812"></a>
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Eigen::Matrix4f </td><td class="memItemRight" valign="bottom"><b>toEigen4f</b> () const</td></tr>
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<tr class="memitem:a73f896e1c77ea4bfea7f0e2ebf26db91" id="r_a73f896e1c77ea4bfea7f0e2ebf26db91"><td class="memItemLeft" align="right" valign="top"><a id="a73f896e1c77ea4bfea7f0e2ebf26db91" name="a73f896e1c77ea4bfea7f0e2ebf26db91"></a>
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Eigen::Matrix4d </td><td class="memItemRight" valign="bottom"><b>toEigen4d</b> () const</td></tr>
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<tr class="memitem:a76e359a47eab8b98684ef0fa36da413f" id="r_a76e359a47eab8b98684ef0fa36da413f"><td class="memItemLeft" align="right" valign="top"><a id="a76e359a47eab8b98684ef0fa36da413f" name="a76e359a47eab8b98684ef0fa36da413f"></a>
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Eigen::Affine3f </td><td class="memItemRight" valign="bottom"><b>toEigen3f</b> () const</td></tr>
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<tr class="memitem:a823f3ad98ecedcfbb422478f203409fe" id="r_a823f3ad98ecedcfbb422478f203409fe"><td class="memItemLeft" align="right" valign="top"><a id="a823f3ad98ecedcfbb422478f203409fe" name="a823f3ad98ecedcfbb422478f203409fe"></a>
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Eigen::Affine3d </td><td class="memItemRight" valign="bottom"><b>toEigen3d</b> () const</td></tr>
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<tr class="memitem:a64246d263e984b712a83f0c20a5c6e12" id="r_a64246d263e984b712a83f0c20a5c6e12"><td class="memItemLeft" align="right" valign="top"><a id="a64246d263e984b712a83f0c20a5c6e12" name="a64246d263e984b712a83f0c20a5c6e12"></a>
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Eigen::Quaternionf </td><td class="memItemRight" valign="bottom"><b>getQuaternionf</b> () const</td></tr>
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<tr class="memitem:a50bceaa69080fae579291b608a4bba9c" id="r_a50bceaa69080fae579291b608a4bba9c"><td class="memItemLeft" align="right" valign="top"><a id="a50bceaa69080fae579291b608a4bba9c" name="a50bceaa69080fae579291b608a4bba9c"></a>
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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">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:a8ea4368f2018d751d2733038081d56a2" id="r_a8ea4368f2018d751d2733038081d56a2"><td class="memItemLeft" align="right" valign="top"><a id="a8ea4368f2018d751d2733038081d56a2" name="a8ea4368f2018d751d2733038081d56a2"></a>
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static <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><b>getIdentity</b> ()</td></tr>
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<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>
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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>
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<tr class="memdesc:aed17615176c1c3e6fdc682232b753d29"><td class="mdescLeft"> </td><td class="mdescRight">Converts from Eigen representations. <br /></td></tr>
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<tr class="memitem:ac2c8d57cc60b52e46d521e59af775438" id="r_ac2c8d57cc60b52e46d521e59af775438"><td class="memItemLeft" align="right" valign="top"><a id="ac2c8d57cc60b52e46d521e59af775438" name="ac2c8d57cc60b52e46d521e59af775438"></a>
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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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<tr class="memitem:a3ef3351fc665785f8b01e81753450d77" id="r_a3ef3351fc665785f8b01e81753450d77"><td class="memItemLeft" align="right" valign="top"><a id="a3ef3351fc665785f8b01e81753450d77" name="a3ef3351fc665785f8b01e81753450d77"></a>
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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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<tr class="memitem:ab6898c87b2ba63f346a9adb5ee2b6647" id="r_ab6898c87b2ba63f346a9adb5ee2b6647"><td class="memItemLeft" align="right" valign="top"><a id="ab6898c87b2ba63f346a9adb5ee2b6647" name="ab6898c87b2ba63f346a9adb5ee2b6647"></a>
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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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<tr class="memitem:a11a76a0e5b29654c4400c9672fa2ceeb" id="r_a11a76a0e5b29654c4400c9672fa2ceeb"><td class="memItemLeft" align="right" valign="top"><a id="a11a76a0e5b29654c4400c9672fa2ceeb" name="a11a76a0e5b29654c4400c9672fa2ceeb"></a>
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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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<tr class="memitem:a742b3431f7efbc0192aca23ab3ac3eb8" id="r_a742b3431f7efbc0192aca23ab3ac3eb8"><td class="memItemLeft" align="right" valign="top"><a id="a742b3431f7efbc0192aca23ab3ac3eb8" name="a742b3431f7efbc0192aca23ab3ac3eb8"></a>
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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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<tr class="memitem:a2205534edd45920d94e33f9f8682e25e" id="r_a2205534edd45920d94e33f9f8682e25e"><td class="memItemLeft" align="right" valign="top"><a id="a2205534edd45920d94e33f9f8682e25e" name="a2205534edd45920d94e33f9f8682e25e"></a>
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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>
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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::Matrix< double, 3, 4 > &matrix)</td></tr>
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<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>
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<tr class="memdesc:abd5f003e72ad31ebc9124385030fce59"><td class="mdescLeft"> </td><td class="mdescRight">Returns the transform from RTAB-Map to OpenGL coordinate system. <br /></td></tr>
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<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>
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<tr class="memdesc:aa58ff702a149c05c930195d1ce42012e"><td class="mdescLeft"> </td><td class="mdescRight">Returns the transform from OpenGL to RTAB-Map coordinate system. <br /></td></tr>
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<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>
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<tr class="memdesc:a8358aacfcddec4ab82c43c758cad0b75"><td class="mdescLeft"> </td><td class="mdescRight">Parses a transform from a string representation. Supported formats: <br /></td></tr>
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<tr class="separator:a8358aacfcddec4ab82c43c758cad0b75"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af44657c8360a79a67e538f25027df639" id="r_af44657c8360a79a67e538f25027df639"><td class="memItemLeft" align="right" valign="top"><a id="af44657c8360a79a67e538f25027df639" name="af44657c8360a79a67e538f25027df639"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>canParseString</b> (const std::string &string)</td></tr>
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<tr class="memdesc:af44657c8360a79a67e538f25027df639"><td class="mdescLeft"> </td><td class="mdescRight">Checks if a string can be parsed into a transform. <br /></td></tr>
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<tr class="separator:af44657c8360a79a67e538f25027df639"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a3ebc45da479b4cae9a5641fda6ebaf23"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the transform to a given timestamp. <br /></td></tr>
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<tr class="separator:a3ebc45da479b4cae9a5641fda6ebaf23"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:ab943d72a808b96b7f89943fc78e38d68"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Represents a 3D rigid body transformation (rotation + translation). </p>
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<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>
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<p>The underlying data is stored in a <code>cv::Mat</code> (3x4, CV_32FC1), representing a rotation matrix and translation vector. </p>
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<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>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a9b89b8bbe9cd75986bcb1ba6ceb5b9cd" name="a9b89b8bbe9cd75986bcb1ba6ceb5b9cd"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">◆ </a></span>Transform() <span class="overload">[1/4]</span></h2>
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<td class="memname">rtabmap::Transform::Transform </td>
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<td>(</td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r11</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r12</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r13</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r21</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r22</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r23</em>, </td>
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<td class="paramname"><em>o24</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r31</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r32</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>r33</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>o34</em> </td>
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<td>)</td>
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</div><div class="memdoc">
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<p>Constructor from rotation matrix elements and translation components. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">r11...r33</td><td>Rotation matrix components. </td></tr>
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<tr><td class="paramname">o14,o24,o34</td><td>Translation vector components. </td></tr>
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</table>
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<h2 class="memtitle"><span class="permalink"><a href="#a82b851897ce2ca729d62fb92dcc48b9f">◆ </a></span>Transform() <span class="overload">[2/4]</span></h2>
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<td class="memname">rtabmap::Transform::Transform </td>
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<td>(</td>
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<td class="paramtype">const cv::Mat & </td>
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<td class="paramname"><em>transformationMatrix</em></td><td>)</td>
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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 a 3x4 OpenCV matrix. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">transformationMatrix</td><td>A 3x4 CV_32FC1 matrix. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a1023adcd1e5d65647e6eda50160c3474">◆ </a></span>Transform() <span class="overload">[3/4]</span></h2>
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<td class="memname">rtabmap::Transform::Transform </td>
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<td>(</td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>x</em>, </td>
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<td class="paramname"><em>y</em>, </td>
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<td class="paramname"><em>pitch</em>, </td>
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<td class="paramtype">float </td>
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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 Euler angles (in radians). </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x,y,z</td><td>Translation components. </td></tr>
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<tr><td class="paramname">roll,pitch,yaw</td><td>Euler rotation angles (ZYX-convention). </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#af471c17a5e411db55813b766727830f4">◆ </a></span>Transform() <span class="overload">[4/4]</span></h2>
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<td>(</td>
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<td class="paramname"><em>x</em>, </td>
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<td class="paramname"><em>qz</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>qw</em> </td>
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<td></td>
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<td>)</td>
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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>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x,y,z</td><td>Translation components. </td></tr>
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<tr><td class="paramname">qx,qy,qz,qw</td><td>Quaternion rotation components. </td></tr>
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</dd>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a1ea4c945ccf717677606fc7fe0331ccf" name="a1ea4c945ccf717677606fc7fe0331ccf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1ea4c945ccf717677606fc7fe0331ccf">◆ </a></span>r11()</h2>
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<p>Rotation matrix element at row 1, col 1. </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#aa570baa97931fe57160e189ab6589254">◆ </a></span>r12()</h2>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a7af7f09501af4a42ff3d7bb20993f4c1">◆ </a></span>r13()</h2>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a6eee19333dc310289821afe0365c27d7">◆ </a></span>r21()</h2>
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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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<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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<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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<h2 class="memtitle"><span class="permalink"><a href="#aff8aa2fd458b316a1024cb55450c4cb4">◆ </a></span>r31()</h2>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a1b4d536f5816f263480ea1c082a2f1c6">◆ </a></span>r32()</h2>
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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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<h2 class="memtitle"><span class="permalink"><a href="#aa2588970787ad45766ee30674ce104e6">◆ </a></span>r33()</h2>
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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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<h2 class="memtitle"><span class="permalink"><a href="#adbdb9063808e63830cbcbd99e1e84d3d">◆ </a></span>o14()</h2>
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<p>Translation x. </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#aa68c9c3b75ad7b66ca8bbf66742b0cc5">◆ </a></span>o24()</h2>
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<p>Translation y. </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#a39184351ff5625030b6d1019c0e3d93f">◆ </a></span>o34()</h2>
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<p>Translation z. </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#ac85dfe2d9ebbda325d877767d95ebd70">◆ </a></span>operator[]() <span class="overload">[1/2]</span></h2>
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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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<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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<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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<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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<p>Returns the internal OpenCV matrix (3x4). </p>
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<p>Returns a pointer to the raw data (12 floats). </p>
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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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<p>Returns the number of float elements (always 12). </p>
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<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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<p>Translation getters/setters. </p>
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<p>Translation x </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#acbb0afe7eb39181f85c2f9734352d6a9">◆ </a></span>y() <span class="overload">[1/2]</span></h2>
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<p>Translation y. </p>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#af90acc40bed06ab96468fd17585f1944">◆ </a></span>z() <span class="overload">[1/2]</span></h2>
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<p>Translation z. </p>
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<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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<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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<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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<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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<p>Interpolates between this and another transform. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#abd5f003e72ad31ebc9124385030fce59">◆ </a></span>opengl_T_rtabmap()</h2>
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<p>Returns the transform from RTAB-Map to OpenGL coordinate system. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa58ff702a149c05c930195d1ce42012e">◆ </a></span>rtabmap_T_opengl()</h2>
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<p>Returns the transform from OpenGL to RTAB-Map coordinate system. </p>
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<p>Parses a transform from a string representation. Supported formats: </p>
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<p>(12 values, 3x4 rotation) "r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz" </p>
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<p>Retrieves the transform to a given timestamp. </p>
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<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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<td class="paramtype">const std::map< double, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > & </td>
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<td class="paramname"><em>tfBuffer</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const double & </td>
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<td class="paramname"><em>stamp</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">double * </td>
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<td class="paramname"><em>stampDiff</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">static</span></span> </td>
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</div><div class="memdoc">
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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>
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</div>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="Transform_8h_source.html">Transform.h</a></li>
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</ul>
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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>
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