Aria  2.8.0
ArTransform Class Reference

Perform transforms between different coordinates. More...

#include <ArTransform.h>

Public Member Functions

 ArTransform ()
 Constructor.
 
 ArTransform (ArPose pose)
 Constructor, Sets the transform so points in this coord system transform to abs world coords.
 
 ArTransform (ArPose pose1, ArPose pose2)
 Constructor, sets the transform so that pose1 will be transformed to pose2.
 
ArPose doInvTransform (ArPose source)
 Take the source pose and run the inverse transform on it, taking it from abs coords to local. More...
 
ArPoseWithTime doInvTransform (ArPoseWithTime source)
 Take the source pose and run the inverse transform on it, taking it from abs coords to local. More...
 
ArPose doTransform (ArPose source)
 Take the source pose and run the transform on it to put it into abs coordinates. More...
 
ArPoseWithTime doTransform (ArPoseWithTime source)
 Take the source pose and run the transform on it to put it into abs coordinates. More...
 
void doTransform (std::list< ArPose *> *poseList)
 Take a std::list of sensor readings and do the transform on it.
 
void doTransform (std::list< ArPoseWithTime *> *poseList)
 Take a std::list of sensor readings and do the transform on it.
 
double getTh ()
 Gets the transform angle value (degrees)
 
double getX ()
 Gets the transform x value (mm)
 
double getY ()
 Gets the transform y value (mm)
 
void setTransform (ArPose pose)
 Sets the transform so points in this coord system transform to abs world coords. More...
 
void setTransform (ArPose pose1, ArPose pose2)
 Sets the transform so that pose1 will be transformed to pose2. More...
 
void setTransformLowLevel (double x, double y, double th)
 Internal function for setting the transform from low level data not poses.
 
virtual ~ArTransform ()
 Destructor.
 

Protected Attributes

double myCos
 
double mySin
 
double myTh
 
double myX
 
double myY
 

Detailed Description

Perform transforms between different coordinates.

Member Function Documentation

◆ doInvTransform() [1/2]

ArPose ArTransform::doInvTransform ( ArPose  source)
inline

Take the source pose and run the inverse transform on it, taking it from abs coords to local.

The source and result can be the same

Parameters
sourcethe parameter to transform
Returns
the source transformed from absolute into local coords

◆ doInvTransform() [2/2]

ArPoseWithTime ArTransform::doInvTransform ( ArPoseWithTime  source)
inline

Take the source pose and run the inverse transform on it, taking it from abs coords to local.

The source and result can be the same

Parameters
sourcethe parameter to transform
Returns
the source transformed from absolute into local coords

◆ doTransform() [1/2]

ArPose ArTransform::doTransform ( ArPose  source)
inline

Take the source pose and run the transform on it to put it into abs coordinates.

Parameters
sourcethe parameter to transform
Returns
the source transformed into absolute coordinates

◆ doTransform() [2/2]

ArPoseWithTime ArTransform::doTransform ( ArPoseWithTime  source)
inline

Take the source pose and run the transform on it to put it into abs coordinates.

Parameters
sourcethe parameter to transform
Returns
the source transformed into absolute coordinates

◆ setTransform() [1/2]

void ArTransform::setTransform ( ArPose  pose)

Sets the transform so points in this coord system transform to abs world coords.

Parameters
posethe coord system from which we transform to abs world coords

◆ setTransform() [2/2]

void ArTransform::setTransform ( ArPose  pose1,
ArPose  pose2 
)

Sets the transform so that pose1 will be transformed to pose2.

Parameters
pose1transform this into pose2
pose2transform pose1 into this

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