org.ros.rosjava_geometry
Class Transform

java.lang.Object
  org.ros.rosjava_geometry.Transform

public class Transform
extends java.lang.Object

A transformation in terms of translation and rotation.

Constructor Summary

Transform(Vector3 translation, Quaternion rotation)

Method Summary

Quaternion	getRotation()
Vector3	getTranslation()
Transform	invert()
Transform	multiply(Transform other)
static Transform	newFromPoseMessage(geometry_msgs.Pose message)
static Transform	newFromTransformMessage(geometry_msgs.Transform message)
static Transform	newIdentityTransform()
void	setRotation(Quaternion rotation)
void	setTranslation(Vector3 translation)
geometry_msgs.Pose	toPoseMessage(geometry_msgs.Pose result)
geometry_msgs.PoseStamped	toPoseStampedMessage(GraphName frame, Time stamp, geometry_msgs.PoseStamped result)
java.lang.String	toString()
geometry_msgs.Transform	toTransformMessage(geometry_msgs.Transform result)
geometry_msgs.TransformStamped	toTransformStampedMessage(GraphName frame, GraphName childFrame, Time stamp, geometry_msgs.TransformStamped result)
Quaternion	transformQuaternion(Quaternion quaternion)
Vector3	transformVector(Vector3 vector)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Transform

public Transform(Vector3 translation,
                 Quaternion rotation)

Method Detail

multiply

public Transform multiply(Transform other)

invert

public Transform invert()

transformVector

public Vector3 transformVector(Vector3 vector)

transformQuaternion

public Quaternion transformQuaternion(Quaternion quaternion)

toTransformMessage

public geometry_msgs.Transform toTransformMessage(geometry_msgs.Transform result)

toTransformStampedMessage

public geometry_msgs.TransformStamped toTransformStampedMessage(GraphName frame,
                                                                GraphName childFrame,
                                                                Time stamp,
                                                                geometry_msgs.TransformStamped result)

toPoseMessage

public geometry_msgs.Pose toPoseMessage(geometry_msgs.Pose result)

toPoseStampedMessage

public geometry_msgs.PoseStamped toPoseStampedMessage(GraphName frame,
                                                      Time stamp,
                                                      geometry_msgs.PoseStamped result)

getTranslation

public Vector3 getTranslation()

setTranslation

public void setTranslation(Vector3 translation)

getRotation

public Quaternion getRotation()

setRotation

public void setRotation(Quaternion rotation)

newFromTransformMessage

public static Transform newFromTransformMessage(geometry_msgs.Transform message)

newFromPoseMessage

public static Transform newFromPoseMessage(geometry_msgs.Pose message)

newIdentityTransform

public static Transform newIdentityTransform()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object