RigidTransform.h File Reference

Rigid transformation class. More...

#include <algorithm>
#include <limits>
#include <math/Angle.h>
#include <math/Eigen.h>
#include <math/Lerp.h>
#include <math/YawPitchRoll.h>
#include <serialization/GetterSetter.h>
#include <platform/Types.h>

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Classes
class	RigidTransform< T, D >
	This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). More...
class	RigidTransformCov< T, D >
	This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). More...
class	RigidTransformBase< T, D, TRotation, TransformDerived >
	Implementation of RigidTransforms with different dimensionality D. More...
class	RigidTransform< T, 2 >
	Specialization of RigidTransform for 2 dimensions. More...
class	RigidTransformCov< T, 2 >
	Specialization of RigidTransformCov for 2 dimensions. More...
class	RigidTransform< T, 3 >
	Specialization of RigidTransform for 3 dimensions. More...
class	RigidTransformCov< T, 3 >
	Specialization of RigidTransformCov for 3 dimensions. More...

Namespaces
	mira
	specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>

Typedefs
typedef RigidTransform< float, 2 >	RigidTransform2f
	Typedef for 2D float transform. More...
typedef RigidTransform< float, 3 >	RigidTransform3f
	Typedef for 3D float transform. More...
typedef RigidTransform< double, 2 >	RigidTransform2d
	Typedef for 2D double transform. More...
typedef RigidTransform< double, 3 >	RigidTransform3d
	Typedef for 3D double transform. More...
typedef RigidTransformCov< float, 2 >	RigidTransformCov2f
	Typedef for 2D float transform with covariance. More...
typedef RigidTransformCov< float, 3 >	RigidTransformCov3f
	Typedef for 3D float transform with covariance. More...
typedef RigidTransformCov< double, 2 >	RigidTransformCov2d
	Typedef for 2D double transform with covariance. More...
typedef RigidTransformCov< double, 3 >	RigidTransformCov3d
	Typedef for 3D double transform with covariance. More...

Functions
template<typename T , int D, typename S >
RigidTransform< T, D >	lerp (const RigidTransform< T, D > &t1, const RigidTransform< T, D > &t2, S alpha)
	Linearly interpolates between two transformations and returns the interpolated transform. More...
template<typename T , int D, typename S >
RigidTransformCov< T, D >	lerp (const RigidTransformCov< T, D > &t1, const RigidTransformCov< T, D > &t2, S alpha)
	Linearly interpolates between two transformations and returns the interpolated transform. More...
template<typename T , int D>
bool	isWellDefined (const RigidTransform< T, D > &p)
	Checks whether a RigidTransform is valid. More...
template<typename T , int D>
bool	isWellDefined (const RigidTransformCov< T, D > &p)
	Checks whether a RigidTransformCov is valid. More...

Detailed Description

Rigid transformation class.

Author

Erik Einhorn, Christoph Weinrich, Christof Schröter

Date

2010/09/01