Public Types | Public Member Functions | Protected Attributes | List of all members
gazebo::common::NodeTransform Class Reference

NodeTransform Skeleton.hh common/common.hh 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. More...
 
 NodeTransform (const ignition::math::Matrix4d &_mat, const std::string &_sid="_default_", TransformType _type=MATRIX)
 Constructor. More...
 
 ~NodeTransform ()
 Destructor. It does nothing. More...
 
std::string GetSID ()
 Returns thr SID. More...
 
ignition::math::Matrix4d GetTransform () const
 Returns the transformation matrix. More...
 
TransformType GetType ()
 Returns the transformation type. More...
 
ignition::math::Matrix4d operator() ()
 Matrix cast operator. More...
 
ignition::math::Matrix4d operator* (NodeTransform _t)
 Node transform multiplication operator. More...
 
ignition::math::Matrix4d operator* (const ignition::math::Matrix4d &_m)
 Matrix multiplication operator. More...
 
void PrintSource ()
 Prints the transform matrix to std::err stream. More...
 
void RecalculateMatrix ()
 Sets the transform matrix from the source according to the type. More...
 
void Set (const ignition::math::Matrix4d &_mat)
 Assign a transformation. More...
 
void SetComponent (unsigned int _idx, double _value)
 Set a transformation matrix component value. More...
 
void SetSID (std::string _sid)
 Set the SID. More...
 
void SetSourceValues (const ignition::math::Matrix4d &_mat)
 Set source data values param[in] _mat the values. More...
 
void SetSourceValues (const ignition::math::Vector3d &_vec)
 Set source data values. More...
 
void SetSourceValues (const ignition::math::Vector3d &_axis, const double _angle)
 Sets source matrix values from roation. More...
 
void SetType (TransformType _type)
 Set transform type. More...
 

Protected Attributes

std::string sid
 the sid More...
 
std::vector< double > source
 source data values (can be a matrix, a position or rotation) More...
 
ignition::math::Matrix4d transform
 transform More...
 
TransformType type
 transform type More...
 

Detailed Description

NodeTransform Skeleton.hh common/common.hh

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 ( const ignition::math::Matrix4d &  _mat,
const 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

std::string gazebo::common::NodeTransform::GetSID ( )

Returns thr SID.

Returns
the SID
ignition::math::Matrix4d gazebo::common::NodeTransform::GetTransform ( ) const

Returns the transformation matrix.

Returns
The transform matrix
TransformType gazebo::common::NodeTransform::GetType ( )

Returns the transformation type.

Returns
the type
ignition::math::Matrix4d gazebo::common::NodeTransform::operator() ( )

Matrix cast operator.

Returns
the transform
ignition::math::Matrix4d gazebo::common::NodeTransform::operator* ( NodeTransform  _t)

Node transform multiplication operator.

Parameters
[in]_ta transform
Returns
transform matrix multiplied by _t's transform
ignition::math::Matrix4d gazebo::common::NodeTransform::operator* ( const ignition::math::Matrix4d &  _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 ( const ignition::math::Matrix4d &  _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 ( const ignition::math::Matrix4d &  _mat)

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

void gazebo::common::NodeTransform::SetSourceValues ( const ignition::math::Vector3d &  _vec)

Set source data values.

Parameters
[in]_vecVector to set source data values from.
void gazebo::common::NodeTransform::SetSourceValues ( const ignition::math::Vector3d &  _axis,
const 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)

ignition::math::Matrix4d 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: