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gazebo::common::NodeTransform Class Reference

A transformation node. More...

#include <Skeleton.hh>

Public Types

enum  TransformType { TRANSLATE, ROTATE, SCALE, MATRIX }
 Enumeration of the transform types. More...
 

Public Member Functions

 NodeTransform (TransformType _type=MATRIX)
 Constructor.
 
 NodeTransform (math::Matrix4 _mat, std::string _sid="_default_", TransformType _type=MATRIX)
 Constructor.
 
 ~NodeTransform ()
 Destructor. It does nothing.
 
math::Matrix4 Get ()
 Returns the transformation matrix.
 
std::string GetSID ()
 Returns thr SID.
 
TransformType GetType ()
 Returns the transformation type.
 
math::Matrix4 operator() ()
 Matrix cast operator.
 
math::Matrix4 operator* (NodeTransform _t)
 Node transform multiplication operator.
 
math::Matrix4 operator* (math::Matrix4 _m)
 Matrix multiplication operator.
 
void PrintSource ()
 Prints the transform matrix to std::err stream.
 
void RecalculateMatrix ()
 Sets the transform matrix from the source according to the type.
 
void Set (math::Matrix4 _mat)
 Assign a transformation.
 
void SetComponent (unsigned int _idx, double _value)
 Set a transformation matrix component value.
 
void SetSID (std::string _sid)
 Set the SID.
 
void SetSourceValues (math::Matrix4 _mat)
 Set source data values _ param[in] _mat the values.
 
void SetSourceValues (math::Vector3 _vec)
 Set source data values.
 
void SetSourceValues (math::Vector3 _axis, double _angle)
 Sets source matrix values from roation.
 
void SetType (TransformType _type)
 Set transform type.
 

Protected Attributes

std::string sid
 the sid
 
std::vector< double > source
 source data values (can be a matrix, a position or rotation)
 
math::Matrix4 transform
 transform
 
TransformType type
 transform type
 

Detailed Description

A transformation node.

Member Enumeration Documentation

Enumeration of the transform types.

Enumerator:
TRANSLATE 
ROTATE 
SCALE 
MATRIX 

Constructor & Destructor Documentation

gazebo::common::NodeTransform::NodeTransform ( TransformType  _type = MATRIX)

Constructor.

Parameters
[in]_typethe type of transform
gazebo::common::NodeTransform::NodeTransform ( math::Matrix4  _mat,
std::string  _sid = "_default_",
TransformType  _type = MATRIX 
)

Constructor.

Parameters
[in]_matthe matrix
[in]_sididentifier
[in]_typethe type of transform
gazebo::common::NodeTransform::~NodeTransform ( )

Destructor. It does nothing.

Member Function Documentation

math::Matrix4 gazebo::common::NodeTransform::Get ( )

Returns the transformation matrix.

Returns
the matrix
std::string gazebo::common::NodeTransform::GetSID ( )

Returns thr SID.

Returns
the SID
TransformType gazebo::common::NodeTransform::GetType ( )

Returns the transformation type.

Returns
the type
math::Matrix4 gazebo::common::NodeTransform::operator() ( )

Matrix cast operator.

Returns
the transform
math::Matrix4 gazebo::common::NodeTransform::operator* ( NodeTransform  _t)

Node transform multiplication operator.

Parameters
[in]_ta transform
Returns
transform matrix multiplied by _t's transform
math::Matrix4 gazebo::common::NodeTransform::operator* ( math::Matrix4  _m)

Matrix multiplication operator.

Parameters
[in]_ma matrix
Returns
transform matrix multiplied by _m
void gazebo::common::NodeTransform::PrintSource ( )

Prints the transform matrix to std::err stream.

void gazebo::common::NodeTransform::RecalculateMatrix ( )

Sets the transform matrix from the source according to the type.

void gazebo::common::NodeTransform::Set ( math::Matrix4  _mat)

Assign a transformation.

Parameters
[in]_matthe transform
void gazebo::common::NodeTransform::SetComponent ( unsigned int  _idx,
double  _value 
)

Set a transformation matrix component value.

Parameters
[in]_idxthe component index
[in]_valuethe value
void gazebo::common::NodeTransform::SetSID ( std::string  _sid)

Set the SID.

Parameters
[in]_sidthe sid
void gazebo::common::NodeTransform::SetSourceValues ( math::Matrix4  _mat)

Set source data values _ param[in] _mat the values.

void gazebo::common::NodeTransform::SetSourceValues ( math::Vector3  _vec)

Set source data values.

void gazebo::common::NodeTransform::SetSourceValues ( math::Vector3  _axis,
double  _angle 
)

Sets source matrix values from roation.

Parameters
[in]_axisof rotation
[in]_angleof rotation
void gazebo::common::NodeTransform::SetType ( TransformType  _type)

Set transform type.

Parameters
[in]_typethe type

Member Data Documentation

std::string gazebo::common::NodeTransform::sid
protected

the sid

std::vector<double> gazebo::common::NodeTransform::source
protected

source data values (can be a matrix, a position or rotation)

math::Matrix4 gazebo::common::NodeTransform::transform
protected

transform

TransformType gazebo::common::NodeTransform::type
protected

transform type


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