org.ros.rosjava_geometry

Class FrameTransform

java.lang.Object

org.ros.rosjava_geometry.FrameTransform

public class FrameTransform
extends java.lang.Object

Describes a Transform from data in the source frame to data in the target frame at a specified Time.

Constructor Summary

Constructors

Constructor and Description
FrameTransform(Transform transform, FrameName source, FrameName target, org.ros.message.Time time) Allocates a new FrameTransform.

Method Summary

Methods

Modifier and Type	Method and Description
boolean	equals(java.lang.Object obj)
static FrameTransform	fromTransformStampedMessage(geometry_msgs.TransformStamped transformStamped)
FrameName	getSourceFrame()
FrameName	getTargetFrame()
org.ros.message.Time	getTime()
Transform	getTransform()
int	hashCode()
FrameTransform	invert()
java.lang.String	toString()
geometry_msgs.TransformStamped	toTransformStampedMessage(geometry_msgs.TransformStamped result)

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

FrameTransform

public FrameTransform(Transform transform,
              FrameName source,
              FrameName target,
              org.ros.message.Time time)

Allocates a new FrameTransform.

Parameters:

transform - the Transform that transforms data in the source frame to data in the target frame

source - the source frame

target - the target frame

time - the time associated with this FrameTransform, can be

Method Detail

fromTransformStampedMessage

public static FrameTransform fromTransformStampedMessage(geometry_msgs.TransformStamped transformStamped)

getTransform

public Transform getTransform()

getSourceFrame

public FrameName getSourceFrame()

getTargetFrame

public FrameName getTargetFrame()

invert

public FrameTransform invert()

getTime

public org.ros.message.Time getTime()

Returns:

the time associated with the FrameTransform or null if there is no associated time

toTransformStampedMessage

public geometry_msgs.TransformStamped toTransformStampedMessage(geometry_msgs.TransformStamped result)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

equals

public boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object