ArTransform Class Reference

A class to handle transforms between different coordinates. More...

#include <ArTransform.h>

List of all members.

Public Member Functions
	ArTransform (ArPose pose1, ArPose pose2)
	ArTransform (ArPose pose)
	ArTransform ()
	Constructor.
ArPoseWithTime	doInvTransform (ArPoseWithTime source)
ArPose	doInvTransform (ArPose source)
void	doTransform (std::list< ArPoseWithTime * > *poseList)
	Take a std::list of sensor readings and do the transform on it.
void	doTransform (std::list< ArPose * > *poseList)
	Take a std::list of sensor readings and do the transform on it.
ArPoseWithTime	doTransform (ArPoseWithTime source)
ArPose	doTransform (ArPose source)
double	getTh ()
	Gets the transform angle value (degrees).
void	setTransform (ArPose pose1, ArPose pose2)
	Sets the transform so that pose1 will be transformed to pose2.
void	setTransform (ArPose pose)
	Sets the transform so points in this coord system transform to abs world coords.
virtual	~ArTransform ()
	Destructor.
Protected Attributes
double	myCos
double	mySin
double	myTh
double	myX
double	myY

---

Detailed Description

A class to handle transforms between different coordinates.

Definition at line 35 of file ArTransform.h.

---

Constructor & Destructor Documentation

ArTransform::ArTransform (  ArPose  pose  )  [inline]

Constructor, Sets the transform so points in this coord system transform to abs world coords Definition at line 50 of file ArTransform.h. References setTransform().

ArTransform::ArTransform (  ArPose  pose1, ArPose  pose2 )  [inline]

Constructor, sets the transform so that pose1 will be transformed to pose2 Definition at line 56 of file ArTransform.h. References setTransform().

---

Member Function Documentation

ArPoseWithTime ArTransform::doInvTransform (  ArPoseWithTime  source  )  [inline]

The source and result can be the same Parameters: source  the parameter to transform Returns: the source transformed from absolute into local coords Definition at line 118 of file ArTransform.h. References ArPose::getTh(), ArPoseWithTime::getTime(), ArPose::getX(), ArPose::getY(), ArPose::setTh(), ArPoseWithTime::setTime(), ArPose::setX(), and ArPose::setY().

ArPose ArTransform::doInvTransform (  ArPose  source  )  [inline]

The source and result can be the same Parameters: source  the parameter to transform Returns: the source transformed from absolute into local coords Definition at line 100 of file ArTransform.h. References ArPose::getTh(), ArPose::getX(), ArPose::getY(), ArPose::setTh(), ArPose::setX(), and ArPose::setY(). Referenced by ArActionTriangleDriveTo::findTriangle(), ArRobot::moveTo(), ArIrrfDevice::packetHandler(), ArSick::runOnce(), ArSick::sensorInterpCallback(), ArActionGotoStraight::setEncoderGoalRel(), and ArSick::simPacketHandler().

ArPoseWithTime ArTransform::doTransform (  ArPoseWithTime  source  )  [inline]

Parameters: source  the parameter to transform Returns: the source transformed into absolute coordinates Definition at line 83 of file ArTransform.h. References ArPose::getTh(), ArPoseWithTime::getTime(), ArPose::getX(), ArPose::getY(), ArPose::setTh(), ArPoseWithTime::setTime(), ArPose::setX(), and ArPose::setY().

ArPose ArTransform::doTransform (  ArPose  source  )  [inline]

Parameters: source  the parameter to transform Returns: the source transformed into absolute coordinates Definition at line 69 of file ArTransform.h. References ArPose::getTh(), ArPose::getX(), ArPose::getY(), ArPose::setTh(), ArPose::setX(), and ArPose::setY(). Referenced by ArBumpers::addBumpToBuffer(), ArSensorReading::applyTransform(), ArRangeBuffer::applyTransform(), doTransform(), ArActionTriangleDriveTo::findTriangle(), ArActionTriangleDriveTo::fire(), ArActionGotoStraight::fire(), ArRangeBuffer::getClosestBoxInList(), ArRobot::moveTo(), ArSensorReading::newData(), ArRobot::processMotorPacket(), ArIRs::processReadings(), ArRobot::setDeadReconPose(), ArActionGotoStraight::setEncoderGoalRel(), ArRobot::setEncoderTransform(), and ArActionGotoStraight::setGoalRel().

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

Sets the transform so that pose1 will be transformed to pose2. Parameters: pose1  transform this into pose2 pose2  transform pose1 into this Definition at line 73 of file ArTransform.cpp. References ArMath::cos(), ArPose::getTh(), ArPose::getX(), ArPose::getY(), ArMath::sin(), and ArMath::subAngle().

void ArTransform::setTransform (  ArPose  pose  )

Sets the transform so points in this coord system transform to abs world coords. Parameters: pose  the coord system from which we transform to abs world coords Definition at line 60 of file ArTransform.cpp. References ArMath::cos(), ArPose::getTh(), ArPose::getX(), ArPose::getY(), and ArMath::sin(). Referenced by ArTransform(), ArRangeBuffer::getClosestBoxInList(), ArRobot::getToGlobalTransform(), ArRobot::getToLocalTransform(), ArRobot::moveTo(), ArIrrfDevice::packetHandler(), ArRobot::processMotorPacket(), ArSick::processPacket(), ArSick::sensorInterpCallback(), ArRobot::setDeadReconPose(), and ArRobot::setEncoderTransform().

---

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

• ArTransform.h
• ArTransform.cpp

---