RMF
RMF::CoordinateTransformer Class Reference

Transform coordinates into the global reference frame. More...

#include <RMF/CoordinateTransformer.h>

Public Member Functions

 CoordinateTransformer ()
 
 CoordinateTransformer (CoordinateTransformer base, decorator::ReferenceFrameConst rb)
 
Vector3 get_global_coordinates (const Vector3 &internal) const
 
const Vector4get_rotation () const
 
const Vector3get_translation () const
 

Detailed Description

Transform coordinates into the global reference frame from a nested one.

Definition at line 30 of file CoordinateTransformer.h.

Constructor & Destructor Documentation

RMF::CoordinateTransformer::CoordinateTransformer ( )

Create one with the default reference frame, so the points aren't transformed at all.

Definition at line 36 of file CoordinateTransformer.h.

RMF::CoordinateTransformer::CoordinateTransformer ( CoordinateTransformer  base,
decorator::ReferenceFrameConst  rb 
)

Compose an outer CoordinateTransformer with the nested ReferenceFrame.

Member Function Documentation

Vector3 RMF::CoordinateTransformer::get_global_coordinates ( const Vector3 internal) const

Return the global coordinates for a given set of internal coordinates.

Definition at line 43 of file CoordinateTransformer.h.

const Vector4& RMF::CoordinateTransformer::get_rotation ( ) const

Return the rotational component of the transformation as a quaternion.

Definition at line 52 of file CoordinateTransformer.h.

const Vector3& RMF::CoordinateTransformer::get_translation ( ) const

Return the translational component of the transformation.

Definition at line 48 of file CoordinateTransformer.h.


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