Fawkes API
Fawkes Development Version
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Accumulator to accumulate transforms between two frames. More...
Public Member Functions | |
TransformAccum () | |
Constructor. | |
CompactFrameID | gather (TimeCache *cache, fawkes::Time time, std::string *error_string) |
Gather frame number. | |
void | accum (bool source) |
Accumulate. | |
void | finalize (WalkEnding end, fawkes::Time _time) |
Finalize accumulation. | |
Public Attributes | |
TransformStorage | st |
Transform storage. | |
fawkes::Time | time |
time stamp | |
btQuaternion | source_to_top_quat |
Source to top accumulated quaternion. | |
btVector3 | source_to_top_vec |
Source to top accumulated vector. | |
btQuaternion | target_to_top_quat |
Target to top accumulated quaternion. | |
btVector3 | target_to_top_vec |
Target to top accumulated vector. | |
btQuaternion | result_quat |
After finalize contains result quaternion. | |
btVector3 | result_vec |
After finalize contains result vector. |
Accumulator to accumulate transforms between two frames.
fawkes::tf::TransformAccum::TransformAccum | ( | ) | [inline] |
Constructor.
Definition at line 165 of file transformer.cpp.
void fawkes::tf::TransformAccum::accum | ( | bool | source | ) | [inline] |
Accumulate.
source | true if looking from source |
Definition at line 195 of file transformer.cpp.
void fawkes::tf::TransformAccum::finalize | ( | WalkEnding | end, |
fawkes::Time | _time | ||
) | [inline] |
Finalize accumulation.
end | flag how the walk ended |
_time | time |
Definition at line 213 of file transformer.cpp.
CompactFrameID fawkes::tf::TransformAccum::gather | ( | TimeCache * | cache, |
fawkes::Time | time, | ||
std::string * | error_string | ||
) | [inline] |
Gather frame number.
cache | cache |
time | time |
error_string | string containing error message in case of failure |
Definition at line 182 of file transformer.cpp.
References fawkes::tf::TimeCache::get_data().
btQuaternion fawkes::tf::TransformAccum::result_quat |
After finalize contains result quaternion.
Definition at line 259 of file transformer.cpp.
Referenced by fawkes::tf::Transformer::lookup_transform().
btVector3 fawkes::tf::TransformAccum::result_vec |
After finalize contains result vector.
Definition at line 261 of file transformer.cpp.
Referenced by fawkes::tf::Transformer::lookup_transform().
btQuaternion fawkes::tf::TransformAccum::source_to_top_quat |
Source to top accumulated quaternion.
Definition at line 250 of file transformer.cpp.
Source to top accumulated vector.
Definition at line 252 of file transformer.cpp.
Transform storage.
Definition at line 246 of file transformer.cpp.
btQuaternion fawkes::tf::TransformAccum::target_to_top_quat |
Target to top accumulated quaternion.
Definition at line 254 of file transformer.cpp.
Target to top accumulated vector.
Definition at line 256 of file transformer.cpp.
time stamp
Definition at line 248 of file transformer.cpp.
Referenced by fawkes::tf::Transformer::lookup_transform().