Fawkes API
Fawkes Development Version
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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... | |
Accumulator to accumulate transforms between two frames.
Definition at line 162 of file transformer.cpp.
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inline |
Constructor.
Definition at line 165 of file transformer.cpp.
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inline |
Accumulate.
source | true 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_.
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inline |
Finalize accumulation.
end | flag how the walk ended |
_time | time |
Definition at line 213 of file transformer.cpp.
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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::TransformStorage::frame_id_, fawkes::tf::TimeCache::get_data(), and fawkes::tf::CanTransformAccum::st.
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().