A transformation between 2D rigid body poses. More...

#include <Transform2.h>

Public Member Functions
	TRANSFORM2 ()
	Default constructor. More...

	TRANSFORM2 (const TRANSFORM2 &source)

	TRANSFORM2 (const ROT2 &r, const ORIGIN2 &x)
	Constructs a 2D pose from a rotation and translation vector.

	TRANSFORM2 (const ORIGIN2 &x)
	Constructs a 2D pose using identity orientation and a translation vector.

	TRANSFORM2 (const ROT2 &r)
	Constructs a 2D pose from a rotation and zero translation.

POSE2	transform (const POSE2 &p) const
	Transforms a pose.

POSE2	inverse_transform (const POSE2 &p) const
	Transforms a pose.

VECTOR2	transform_point (const VECTOR2 &v) const
	Transforms a point from one pose to another.

VECTOR2	transform_vector (const VECTOR2 &v) const
	Transforms a vector from one pose to another.

VECTOR2	inverse_transform_point (const VECTOR2 &v) const
	Transforms a point from one pose to another.

VECTOR2	inverse_transform_vector (const VECTOR2 &v) const
	Transforms a vector from one pose to another.

TRANSFORM2 &	set_identity ()
	Sets this matrix to identity.

TRANSFORM2 &	invert ()
	Special method for inverting a 2D pose.

TRANSFORM2	inverse () const

TRANSFORM2 &	set (const ROT2 &r, const ORIGIN2 &v)
	Sets the pose from a rotation and translation vector.

TRANSFORM2 &	set (const ROT2 &r)
	Sets this pose from a rotation only (translation will be zero'd)

TRANSFORM2 &	operator= (const TRANSFORM2 &source)

TRANSFORM2	operator* (const TRANSFORM2 &m) const
	Concatenates transformations. More...

Static Public Member Functions
static TRANSFORM2	identity ()

static bool	rel_equal (const TRANSFORM2 &p1, const TRANSFORM2 &p2, REAL tol=EPS)
	Determines whether two poses in 2D are relatively equivalent.

static REAL	wrap (REAL theta)

static TRANSFORM2	invert (const TRANSFORM2 &m)
	Special method for inverting a 2D pose.

static ORIGIN2	interpolate_transform_vector (const TRANSFORM2 &T1, const TRANSFORM2 &T2, REAL t, const ORIGIN2 &o)
	Tranforms a vector with an interpolated transform (between transforms T1 and T2) More...

static ORIGIN2	interpolate_transform_point (const TRANSFORM2 &T1, const TRANSFORM2 &T2, REAL t, const ORIGIN2 &o)
	Tranforms a point with an interpolated pose (between poses T1 and T2) More...

static ORIGIN2	interpolate_inverse_transform_vector (const TRANSFORM2 &T1, const TRANSFORM2 &T2, REAL t, const ORIGIN2 &o)
	Tranforms a vector with the inverse of an interpolated transform (between transforms T1 and T2) More...

static ORIGIN2	interpolate_inverse_transform_point (const TRANSFORM2 &T1, const TRANSFORM2 &T2, REAL t, const ORIGIN2 &o)
	Tranforms a point with the inverse of an interpolated pose (between poses T1 and T2) More...

Public Attributes
ROT2	r
	the orientation of the pose frame

ORIGIN2	x
	the position of the pose frame

boost::shared_ptr< const POSE2 >	source
	the source pose

boost::shared_ptr< const POSE2 >	target
	the target pose

Detailed Description

A transformation between 2D rigid body poses.

Constructor & Destructor Documentation

TRANSFORM2::TRANSFORM2 ( )

Default constructor.

Sets matrix to the identity matrix

References set_identity().

Referenced by invert().

Member Function Documentation

ORIGIN2 TRANSFORM2::interpolate_inverse_transform_point	(	const TRANSFORM2 &	T1,
		const TRANSFORM2 &	T2,
		REAL	t,
		const ORIGIN2 &	o
	)

static

Tranforms a point with the inverse of an interpolated pose (between poses T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns: the transformed point

References r, ROT2::theta, and x.

ORIGIN2 TRANSFORM2::interpolate_inverse_transform_vector	(	const TRANSFORM2 &	T1,
		const TRANSFORM2 &	T2,
		REAL	t,
		const ORIGIN2 &	o
	)

static

Tranforms a vector with the inverse of an interpolated transform (between transforms T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns: the transformed vector

References r, and ROT2::theta.

ORIGIN2 TRANSFORM2::interpolate_transform_point	(	const TRANSFORM2 &	T1,
		const TRANSFORM2 &	T2,
		REAL	t,
		const ORIGIN2 &	o
	)

static

Tranforms a point with an interpolated pose (between poses T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns: the transformed point

References r, ROT2::theta, and x.

ORIGIN2 TRANSFORM2::interpolate_transform_vector	(	const TRANSFORM2 &	T1,
		const TRANSFORM2 &	T2,
		REAL	t,
		const ORIGIN2 &	o
	)

static

Tranforms a vector with an interpolated transform (between transforms T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns: the transformed vector

References r, and ROT2::theta.

TRANSFORM2 TRANSFORM2::operator* ( const TRANSFORM2 & T ) const

Concatenates transformations.

If this transforms from frame b to frame c and T transforms from frame a to frame b, then concatenation transforms from frame a to frame c.

References r, source, target, and x.

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

/home/drum/Ravelin.new/include/Ravelin/Transform2.h
/home/drum/Ravelin.new/src/Transform2.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation