MIRA

This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). More...
#include <transform/RigidTransform.h>
This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform).
In comparison to the RigidTransform class this class also takes the uncertainty of a transform into account (e.g. the uncertainty of a pose, etc). The uncertainty is modeled as normal distribution and is expressed by its covariance matrix.
A rigid transformation is one in which the preimage and the image both has the exact same size and shape.
These limitations are sufficient for our purposes (rigid body transform, transformation of coordinate frames, etc) and allows efficient computation of the operations. Moreover, the limitation to rigid transforms allows efficient interpolation between two different transformations.