For detailed information see Transformation Framework.
More...
Collaboration diagram for Transformation Module:
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Classes | |
| class | RigidTransform< T, D > |
| This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). More... | |
| class | RigidTransformCov< T, D > |
| This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). More... | |
| class | RigidTransformBase< T, D, TRotation, TransformDerived > |
| Implementation of RigidTransforms with different dimensionality D. More... | |
| class | RigidTransform< T, 2 > |
| Specialization of RigidTransform for 2 dimensions. More... | |
| class | RigidTransformCov< T, 2 > |
Specialization of RigidTransformCov for 2 dimensions. More... | |
| class | RigidTransform< T, 3 > |
| Specialization of RigidTransform for 3 dimensions. More... | |
| class | RigidTransformCov< T, 3 > |
Specialization of RigidTransformCov for 3 dimensions. More... | |
| class | TransformerBase |
| Base class for Transformer to decouple base functionality that is type independent from type dependent Transformer class template. More... | |
| struct | TransformDesc |
| Describes a path of transformations through the transformation tree. More... | |
| class | GenericTransformer< TNode > |
| A generic transformer base class that can be used with different types of actual transformation nodes. More... | |
| class | Transformer< T, D, TTransform > |
| A full features transformer class based on GenericTransformer. More... | |
| class | AbstractTransformerNode |
| Abstract base class where all other different types of transformation nodes must be derived from. More... | |
| class | TransformerNode< StorageTransform > |
| Basic reference implementation of an AbstractTransformerNode that stores the transformation data internally in a StampedDataQueue that allows to query the transformation at specific time stamps. More... | |
| class | FrameworkTransformerNode |
| class | FrameworkTransformer |
Typedefs | |
| typedef RigidTransform< float, 2 > | Pose2 |
| A 2D pose consisting of a translation and rotation. More... | |
| typedef RigidTransform< float, 3 > | Pose3 |
| A 3D pose consisting of a translation and rotation. More... | |
| typedef RigidTransformCov< float, 2 > | PoseCov2 |
| A 2D pose with covariance consisting of a translation and rotation. More... | |
| typedef RigidTransformCov< float, 3 > | PoseCov3 |
| A 3D pose with covariance consisting of a translation and rotation. More... | |
| typedef PoseVectorTrait< Pose2 >::VectorType | Pose2Vector |
| Vector of Pose2. More... | |
| typedef PoseVectorTrait< Pose3 >::VectorType | Pose3Vector |
| Vector of Pose3. More... | |
| typedef PoseVectorTrait< PoseCov2 >::VectorType | PoseCov2Vector |
| Vector of PoseCov2. More... | |
| typedef PoseVectorTrait< PoseCov3 >::VectorType | PoseCov3Vector |
| Vector of PoseCov3. More... | |
| typedef RigidTransform< float, 2 > | RigidTransform2f |
| Typedef for 2D float transform. More... | |
| typedef RigidTransform< float, 3 > | RigidTransform3f |
| Typedef for 3D float transform. More... | |
| typedef RigidTransform< double, 2 > | RigidTransform2d |
| Typedef for 2D double transform. More... | |
| typedef RigidTransform< double, 3 > | RigidTransform3d |
| Typedef for 3D double transform. More... | |
| typedef RigidTransformCov< float, 2 > | RigidTransformCov2f |
| Typedef for 2D float transform with covariance. More... | |
| typedef RigidTransformCov< float, 3 > | RigidTransformCov3f |
| Typedef for 3D float transform with covariance. More... | |
| typedef RigidTransformCov< double, 2 > | RigidTransformCov2d |
| Typedef for 2D double transform with covariance. More... | |
| typedef RigidTransformCov< double, 3 > | RigidTransformCov3d |
| Typedef for 3D double transform with covariance. More... | |
| typedef Transformer< float, 2 > | Transformer2f |
| Typedef for a transformer with 2D floating point transforms. More... | |
| typedef Transformer< float, 3 > | Transformer3f |
| Typedef for a transformer with 3D floating point transforms. More... | |
| typedef Transformer< double, 2 > | Transformer2d |
| Typedef for a transformer with 2D double precision transforms. More... | |
| typedef Transformer< double, 3 > | Transformer3d |
| Typedef for a transformer with 3D double precision transforms. More... | |
| typedef Transformer< float, 2, RigidTransformCov > | TransformerCov2f |
| Typedef for a transformer with 2D floating point transforms and covariance. More... | |
| typedef Transformer< float, 3, RigidTransformCov > | TransformerCov3f |
| Typedef for a transformer with 3D floating point transforms and covariance. More... | |
| typedef Transformer< double, 2, RigidTransformCov > | TransformerCov2d |
| Typedef for a transformer with 2D double precision transforms and covariance. More... | |
| typedef Transformer< double, 3, RigidTransformCov > | TransformerCov3d |
| Typedef for a transformer with 3D double precision transforms and covariance. More... | |
Functions | |
| template<typename T , int D, typename S > | |
| RigidTransform< T, D > | lerp (const RigidTransform< T, D > &t1, const RigidTransform< T, D > &t2, S alpha) |
| Linearly interpolates between two transformations and returns the interpolated transform. More... | |
| template<typename T , int D, typename S > | |
| RigidTransformCov< T, D > | lerp (const RigidTransformCov< T, D > &t1, const RigidTransformCov< T, D > &t2, S alpha) |
| Linearly interpolates between two transformations and returns the interpolated transform. More... | |
| template<typename TargetTransform , typename OtherT , int OtherD> | |
| TargetTransform | transform_cast (const RigidTransform< OtherT, OtherD > &other) |
| Casts a RigidTransform or RigidTransformCov to a RigidTransform of a different type. More... | |
| template<typename TargetTransform , typename OtherT , int OtherD> | |
| TargetTransform | transform_cast (const RigidTransformCov< OtherT, OtherD > &other) |
| Casts a RigidTransformCov to a RigidTransform of a different type. More... | |
Detailed Description
For detailed information see Transformation Framework.
Typedef Documentation
◆ Pose2
| typedef RigidTransform<float,2> Pose2 |
A 2D pose consisting of a translation and rotation.
◆ Pose3
| typedef RigidTransform<float,3> Pose3 |
A 3D pose consisting of a translation and rotation.
◆ PoseCov2
| typedef RigidTransformCov<float,2> PoseCov2 |
A 2D pose with covariance consisting of a translation and rotation.
◆ PoseCov3
| typedef RigidTransformCov<float,3> PoseCov3 |
A 3D pose with covariance consisting of a translation and rotation.
◆ Pose2Vector
| typedef PoseVectorTrait<Pose2>::VectorType Pose2Vector |
Vector of Pose2.
◆ Pose3Vector
| typedef PoseVectorTrait<Pose3>::VectorType Pose3Vector |
Vector of Pose3.
◆ PoseCov2Vector
| typedef PoseVectorTrait<PoseCov2>::VectorType PoseCov2Vector |
Vector of PoseCov2.
◆ PoseCov3Vector
| typedef PoseVectorTrait<PoseCov3>::VectorType PoseCov3Vector |
Vector of PoseCov3.
◆ RigidTransform2f
| typedef RigidTransform<float,2> RigidTransform2f |
Typedef for 2D float transform.
◆ RigidTransform3f
| typedef RigidTransform<float,3> RigidTransform3f |
Typedef for 3D float transform.
◆ RigidTransform2d
| typedef RigidTransform<double,2> RigidTransform2d |
Typedef for 2D double transform.
◆ RigidTransform3d
| typedef RigidTransform<double,3> RigidTransform3d |
Typedef for 3D double transform.
◆ RigidTransformCov2f
| typedef RigidTransformCov<float,2> RigidTransformCov2f |
Typedef for 2D float transform with covariance.
◆ RigidTransformCov3f
| typedef RigidTransformCov<float,3> RigidTransformCov3f |
Typedef for 3D float transform with covariance.
◆ RigidTransformCov2d
| typedef RigidTransformCov<double,2> RigidTransformCov2d |
Typedef for 2D double transform with covariance.
◆ RigidTransformCov3d
| typedef RigidTransformCov<double,3> RigidTransformCov3d |
Typedef for 3D double transform with covariance.
◆ Transformer2f
| typedef Transformer<float, 2> Transformer2f |
Typedef for a transformer with 2D floating point transforms.
◆ Transformer3f
| typedef Transformer<float, 3> Transformer3f |
Typedef for a transformer with 3D floating point transforms.
◆ Transformer2d
| typedef Transformer<double, 2> Transformer2d |
Typedef for a transformer with 2D double precision transforms.
◆ Transformer3d
| typedef Transformer<double, 3> Transformer3d |
Typedef for a transformer with 3D double precision transforms.
◆ TransformerCov2f
| typedef Transformer<float, 2, RigidTransformCov> TransformerCov2f |
Typedef for a transformer with 2D floating point transforms and covariance.
◆ TransformerCov3f
| typedef Transformer<float, 3, RigidTransformCov> TransformerCov3f |
Typedef for a transformer with 3D floating point transforms and covariance.
◆ TransformerCov2d
| typedef Transformer<double, 2, RigidTransformCov> TransformerCov2d |
Typedef for a transformer with 2D double precision transforms and covariance.
◆ TransformerCov3d
| typedef Transformer<double, 3, RigidTransformCov> TransformerCov3d |
Typedef for a transformer with 3D double precision transforms and covariance.
Function Documentation
◆ lerp() [1/2]
| RigidTransform<T, D> mira::lerp | ( | const RigidTransform< T, D > & | t1, |
| const RigidTransform< T, D > & | t2, | ||
| S | alpha | ||
| ) |
Linearly interpolates between two transformations and returns the interpolated transform.
The rotational part is interpolated using spherical linear interpolation (slerp), the translational part is interpolated linearly (lerp).
◆ lerp() [2/2]
| RigidTransformCov<T, D> mira::lerp | ( | const RigidTransformCov< T, D > & | t1, |
| const RigidTransformCov< T, D > & | t2, | ||
| S | alpha | ||
| ) |
Linearly interpolates between two transformations and returns the interpolated transform.
The rotational part is interpolated using spherical linear interpolation (slerp), the translational part is interpolated linearly (lerp). The covariance matrix is interpolated linearly (lerp).
◆ transform_cast() [1/2]
| TargetTransform mira::transform_cast | ( | const RigidTransform< OtherT, OtherD > & | other | ) |
Casts a RigidTransform or RigidTransformCov to a RigidTransform of a different type.
The following conversions are possible:
- change of value type float/double
- change of dimensionality, e.g. from RigidTransform2f to RigidTransform3f. When converting from 2D to 3D, the additional z-coordinate and the two additional Euler angles are set to 0, the covariance matrix is also extended with 0 values. When converting from 3D to 2D, the z-coordinate and the last 2 Euler angles are omitted.
- change of associated covariance, e.g. from RigidTransformCov2f to RigidTransform2f (omitting covariance), or vice versa. A newly created covariance matrix is initialized with 0 values.
◆ transform_cast() [2/2]
| TargetTransform mira::transform_cast | ( | const RigidTransformCov< OtherT, OtherD > & | other | ) |
Casts a RigidTransformCov to a RigidTransform of a different type.
The following conversions are possible:
- change of value type float/double
- change of dimensionality, e.g. from RigidTransform2f to RigidTransform3f. When converting from 2D to 3D, the additional z-coordinate and the two additional Euler angles are set to 0, the covariance matrix is also extended with 0 values. When converting from 3D to 2D, the z-coordinate and the last 2 Euler angles are omitted.
- change of associated covariance, e.g. from RigidTransformCov2f to RigidTransform2f.
