Fawkes API  Fawkes Development Version
fawkes::tf::TransformAccum Struct Reference

Accumulator to accumulate transforms between two frames. More...

List of all members.

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.

Detailed Description

Accumulator to accumulate transforms between two frames.


Constructor & Destructor Documentation

fawkes::tf::TransformAccum::TransformAccum ( ) [inline]

Constructor.

Definition at line 165 of file transformer.cpp.


Member Function Documentation

void fawkes::tf::TransformAccum::accum ( bool  source) [inline]

Accumulate.

Parameters:
sourcetrue 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.

Parameters:
endflag how the walk ended
_timetime

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.

Parameters:
cachecache
timetime
error_stringstring containing error message in case of failure
Returns:
parent frame number

Definition at line 182 of file transformer.cpp.

References fawkes::tf::TimeCache::get_data().


Member Data Documentation

After finalize contains result quaternion.

Definition at line 259 of file transformer.cpp.

Referenced by fawkes::tf::Transformer::lookup_transform().

After finalize contains result vector.

Definition at line 261 of file transformer.cpp.

Referenced by fawkes::tf::Transformer::lookup_transform().

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.

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.


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