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

enum gazebo::common::NodeTransform::TransformType

Enumeration of the transform types.

Enumerator:

TRANSLATE
ROTATE
SCALE
MATRIX

Constructor & Destructor Documentation

gazebo::common::NodeTransform::NodeTransform

(

TransformType

_type = MATRIX

)

Constructor.

Parameters

[in]

_type

the type of transform

gazebo::common::NodeTransform::NodeTransform	(	math::Matrix4	_mat,
		std::string	_sid = "_default_",
		TransformType	_type = MATRIX
	)

Constructor.

Parameters

[in]	_mat	the matrix
[in]	_sid	identifier
[in]	_type	the 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]

_t

a transform

Returns

transform matrix multiplied by _t's transform

math::Matrix4 gazebo::common::NodeTransform::operator*

(

math::Matrix4

_m

)

Matrix multiplication operator.

Parameters

[in]

_m

a 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]

_mat

the transform

void gazebo::common::NodeTransform::SetComponent	(	unsigned int	_idx,
		double	_value
	)

Set a transformation matrix component value.

Parameters

[in]	_idx	the component index
[in]	_value	the value

void gazebo::common::NodeTransform::SetSID

(

std::string

_sid

)

Set the SID.

Parameters

[in]

_sid

the 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]	_axis	of rotation
[in]	_angle	of rotation

void gazebo::common::NodeTransform::SetType

(

TransformType

_type

)

Set transform type.

Parameters

[in]

_type

the 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

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

• Skeleton.hh