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, rotation, and scale.

Constructor Summary

Constructors

Constructor and Description
Transform(Vector3 translation, Quaternion rotation)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	almostEquals(Transform other, double epsilon)
Quaternion	apply(Quaternion quaternion)
Vector3	apply(Vector3 vector)
boolean	equals(java.lang.Object obj)
static Transform	fromPoseMessage(geometry_msgs.Pose message)
static Transform	fromTransformMessage(geometry_msgs.Transform message)
double	getScale()
int	hashCode()
static Transform	identity()
Transform	invert()
Transform	multiply(Transform other) Apply another Transform to this Transform.
Transform	scale(double factor)
double[]	toMatrix()
geometry_msgs.Pose	toPoseMessage(geometry_msgs.Pose result)
geometry_msgs.PoseStamped	toPoseStampedMessage(FrameName frame, org.ros.message.Time stamp, geometry_msgs.PoseStamped result)
java.lang.String	toString()
geometry_msgs.Transform	toTransformMessage(geometry_msgs.Transform result)
static Transform	translation(double x, double y, double z)
static Transform	translation(Vector3 vector)
static Transform	xRotation(double angle)
static Transform	yRotation(double angle)
static Transform	zRotation(double angle)

Methods inherited from class java.lang.Object

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

Constructor Detail

Transform

public Transform(Vector3 translation,
         Quaternion rotation)

Method Detail

fromTransformMessage

public static Transform fromTransformMessage(geometry_msgs.Transform message)

fromPoseMessage

public static Transform fromPoseMessage(geometry_msgs.Pose message)

identity

public static Transform identity()

xRotation

public static Transform xRotation(double angle)

yRotation

public static Transform yRotation(double angle)

zRotation

public static Transform zRotation(double angle)

translation

public static Transform translation(double x,
                    double y,
                    double z)

translation

public static Transform translation(Vector3 vector)

multiply

public Transform multiply(Transform other)

Apply another Transform to this Transform.

Parameters:

other - the Transform to apply to this Transform

Returns:

the resulting Transform

invert

public Transform invert()

apply

public Vector3 apply(Vector3 vector)

apply

public Quaternion apply(Quaternion quaternion)

scale

public Transform scale(double factor)

getScale

public double getScale()

toMatrix

public double[] toMatrix()

See Also:

Quaternion rotation matrix

toTransformMessage

public geometry_msgs.Transform toTransformMessage(geometry_msgs.Transform result)

toPoseMessage

public geometry_msgs.Pose toPoseMessage(geometry_msgs.Pose result)

toPoseStampedMessage

public geometry_msgs.PoseStamped toPoseStampedMessage(FrameName frame,
                                             org.ros.message.Time stamp,
                                             geometry_msgs.PoseStamped result)

almostEquals

public boolean almostEquals(Transform other,
                   double epsilon)

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