prmTransformationManager.h File Reference

A singleton tree of transformations, and support classes. More...

#include <cisstParameterTypes/prmTransformationBase.h>
#include <cisstParameterTypes/prmTransformationFixed.h>
#include <cisstParameterTypes/prmExport.h>

Go to the source code of this file.

Classes
class	prmTransformationManager

Functions
	CMN_DECLARE_SERVICES_INSTANTIATION (prmTransformationManager)
vctFrm3	prmWRTReference (const prmTransformationBasePtr &tipFrame, const prmTransformationBasePtr &refFrame)
vctFrm3	prmWRTWorld (const prmTransformationBasePtr &frame)
vctFrm3	prmWRTReference (const std::string &tipFrame, const std::string &refFrame)
vctFrm3	prmWRTReference (const std::string &tipFrame, const prmTransformationBasePtr &refFrame)
vctFrm3	prmWRTReference (const prmTransformationBasePtr &tipFrame, const std::string &refFrame)

Detailed Description

A singleton tree of transformations, and support classes.

Function Documentation

CMN_DECLARE_SERVICES_INSTANTIATION

(

prmTransformationManager

)

vctFrm3 prmWRTReference ( const prmTransformationBasePtr &  tipFrame, const prmTransformationBasePtr &  refFrame  )

inline

Convenience function for computation of the current transformation between two frames using the frame manager.

Parameters

tipFrame	const prmTransformationBase& reference to end of the frame manager branch
refFrame	const prmTransformationBase& reference to start of the frame manager branch

Returns

vctFrm3 homogeneous transform value of the Cartesian relationship between tip and ref frames.

vctFrm3 prmWRTReference ( const std::string &  tipFrame, const std::string &  refFrame  )

inline

Convenience function allowing string names to be specified instead of pointers.

Parameters

tipFrame	const std::string & tip frame name
refFrame	const std::string & reference frame name

Returns

vctFrm3 homogeneous transform value of the Cartesian relationship between frame and theWorld.

vctFrm3 prmWRTReference ( const std::string &  tipFrame, const prmTransformationBasePtr &  refFrame  )

inline

Convenience function allowing tip string name to be specified instead of pointers.

Parameters

tipFrame	const std::string & tip frame name
refFrame	const prmTransformationBase& reference to start of the frame manager branch

Returns

vctFrm3 homogeneous transform value of the Cartesian relationship between frame and theWorld.

vctFrm3 prmWRTReference ( const prmTransformationBasePtr &  tipFrame, const std::string &  refFrame  )

inline

Convenience function allowing tip string name to be specified instead of pointers.

Parameters

tipFrame	const prmTransformationBase& reference to end of the frame manager branch
refFrame	const std::string & reference frame name

Returns

vctFrm3 homogeneous transform value of the Cartesian relationship between frame and theWorld.

vctFrm3 prmWRTWorld ( const prmTransformationBasePtr &  frame )

inline

Convenience function for computation of the current transformation between a frame and the world coordinate system.

Parameters

frame

const prmTransformationBase& reference to target frame

Returns

vctFrm3 homogeneous transform value of the Cartesian relationship between frame and theWorld.