Transformation2< T > Struct Template Reference

Collaboration diagram for Transformation2< T >:

[legend]List of all members.

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Detailed Description

template<class T>
struct Transformation2< T >

A class to represent 2D transformations (rotation and translation).

Definition at line 158 of file transformation2.hh.

Public Member Functions
	Transformation2 (bool initAsIdentity=true)
	Transformation2 (const T &x, const T &y, const T &theta)
	Transformation2 (const T &_theta, const Vector2< T > &trans)
	Transformation2 (const Pose2< T > &v)
Vector2< T >	translation () const
T	rotation () const
Pose2< T >	toPoseType () const
void	setTranslation (const Vector2< T > &t)
void	setRotation (const T &theta)
void	setTranslation (const T &x, const T &y)
Transformation2< T >	inv () const
Static Public Member Functions
static Transformation2< T >	identity ()
Public Attributes
T	rotationMatrix [2][2]
	the rotation matrix
T	translationVector [2]
	the translation vector

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Constructor & Destructor Documentation

template<class T>

Transformation2< T >::Transformation2

(

bool

initAsIdentity = true

)

[inline]

Default constructor

Parameters:

initAsIdentity

if true (default) the transormation is the identity, otherwise no initializtion

Definition at line 165 of file transformation2.hh.

template<class T>

Transformation2< T >::Transformation2	(	const T &	x,
		const T &	y,
		const T &	theta
	)			[inline]

Constructor that sets the translation and rotation

Definition at line 181 of file transformation2.hh.

template<class T>

Transformation2< T >::Transformation2	(	const T &	_theta,
		const Vector2< T > &	trans
	)			[inline]

Constructor that sets the translation and rotation

Definition at line 187 of file transformation2.hh.

template<class T>

Transformation2< T >::Transformation2

(

const Pose2< T > &

v

)

[inline]

Copy constructor

Definition at line 192 of file transformation2.hh.

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Member Function Documentation

template<class T>

static Transformation2<T> Transformation2< T >::identity

(

)

[inline, static]

Returns:

Identity transformation

Definition at line 175 of file transformation2.hh.

template<class T>

Vector2<T> Transformation2< T >::translation

(

)

const [inline]

Get the translation

Definition at line 199 of file transformation2.hh.

template<class T>

T Transformation2< T >::rotation

(

)

const [inline]

Get the rotation

Definition at line 205 of file transformation2.hh.

template<class T>

Pose2<T> Transformation2< T >::toPoseType

(

)

const [inline]

Computed the Pose based on the translation and rotation

Definition at line 210 of file transformation2.hh.

template<class T>

void Transformation2< T >::setTranslation

(

const Vector2< T > &

t

)

[inline]

Set the translation

Definition at line 218 of file transformation2.hh.

template<class T>

void Transformation2< T >::setRotation

(

const T &

theta

)

[inline]

Set the rotation

Definition at line 223 of file transformation2.hh.

template<class T>

void Transformation2< T >::setTranslation	(	const T &	x,
		const T &	y
	)			[inline]

Set the translation

Definition at line 230 of file transformation2.hh.

template<class T>

Transformation2<T> Transformation2< T >::inv

(

)

const [inline]

Computes the inveres of the transformation

Definition at line 236 of file transformation2.hh.

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

• transformation2.hh

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