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

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

Public Member Functions

 TransformAccum ()
 Constructor. More...
 
CompactFrameID gather (TimeCache *cache, fawkes::Time time, std::string *error_string)
 Gather frame number. More...
 
void accum (bool source)
 Accumulate. More...
 
void finalize (WalkEnding end, fawkes::Time _time)
 Finalize accumulation. More...
 

Public Attributes

TransformStorage st
 Transform storage. More...
 
fawkes::Time time
 time stamp More...
 
btQuaternion source_to_top_quat
 Source to top accumulated quaternion. More...
 
btVector3 source_to_top_vec
 Source to top accumulated vector. More...
 
btQuaternion target_to_top_quat
 Target to top accumulated quaternion. More...
 
btVector3 target_to_top_vec
 Target to top accumulated vector. More...
 
btQuaternion result_quat
 After finalize contains result quaternion. More...
 
btVector3 result_vec
 After finalize contains result vector. More...
 

Detailed Description

Accumulator to accumulate transforms between two frames.

Definition at line 162 of file transformer.cpp.

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.

References fawkes::tf::TransformStorage::rotation_, fawkes::tf::CanTransformAccum::st, and fawkes::tf::TransformStorage::translation_.

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::TransformStorage::frame_id_, fawkes::tf::TimeCache::get_data(), and fawkes::tf::CanTransformAccum::st.

Member Data Documentation

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.

btVector3 fawkes::tf::TransformAccum::source_to_top_vec

Source to top accumulated vector.

Definition at line 252 of file transformer.cpp.

TransformStorage fawkes::tf::TransformAccum::st

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.

btVector3 fawkes::tf::TransformAccum::target_to_top_vec

Target to top accumulated vector.

Definition at line 256 of file transformer.cpp.

fawkes::Time fawkes::tf::TransformAccum::time

time stamp

Definition at line 248 of file transformer.cpp.

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


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