#include <uposrot.h>

Inheritance diagram for UPosRot:

Public Member Functions
void	clear ()

UPlane	getCamToRobPlane (UPlane plane)
	Convert this plane from camera to robot coordinates. Assumes that this pose is the camera pose relative to the robot. More...

virtual const char *	getDataType ()

double	getKappa ()

UMatrix4	getMtoRMatrix ()

double	getOmega ()

double	getPhi ()

UPosition *	getPos ()

UPosRot *	getPosRot ()

UPlane	getRobToCamPlane (UPlane plane)
	Convert this plane from robot to camera coordinates. Assumes that this pose is the camera pose relative to the robot. More...

URotation *	getRot ()

UMatrix4	getRtoMMatrix ()

double	getTheta ()

double	getX ()

double	getY ()

double	getZ ()

UPosition	pos ()

void	print (const char *prestring)

URotation	rot ()

void	set (UPosition pos, URotation rot)

void	set (double x, double y, double z, double Omega, double Phi, double Kappa)

void	setCtoR (UPosRot camera, UPosRot guidemark, bool mirror)

void	setFromPose (double x, double y, double h)

void	setKappa (double value)

void	setOmega (double value)

void	setPhi (double value)

void	setPos (UPosition pos)

void	setRot (URotation rot)

void	setRtoC (UPosRot camera, UPosRot guidemark)

void	setTheta (double value)

void	setX (double value)

void	setY (double value)

void	setZ (double value)

	UPosRot ()

	~UPosRot ()

Public Member Functions inherited from UPosition
void	add (const UPosition *pos)

void	add (const UPosition pos)

void	add (const double ix, const double iy, const double iz)

UPosition	added (UPosition *pos)

UPosition	added (UPosition pos)

UMatrix4	asCol3 ()

UMatrix4	asCol4 ()

UMatrix4	asMatrix4x4 ()

UMatrix4	asRow3 ()

UMatrix4	asRow4 ()

UMatrix4	asVector3 (bool column)

UMatrix4	asVector4 (bool column)

void	clear (void)

virtual const char *	codeXml (char buf, const int bufCnt, const char extraAttr)

virtual const char *	codeXml (const char name, char buf, const int bufCnt, const char *extraAttr)

int	copy (UMatrix4 *pos)

int	copy (const URotation *rot)

UPosition	cross (UPosition p2)

void	cross (UPosition p1, UPosition p2)

double	dist (const UPosition *pTo)

double	dist (UPosition To)

double	dist ()

double	distSq (const UPosition *pTo)

double	distSq ()

double	distXY ()

double	distXY (UPosition p2)

double	dot (UPosition p2)

double	get (int idx)

UMatrix4	getPixelPos (UMatrix4 A, UMatrix4 b)

UPosition *	getPos ()

UPosition	getTangentPointXY (const UPosition centre, const double radius, const bool rightSide, bool valid, double ang=NULL)

bool	load (const char *valueString)

int	LoadFromReg (Uconfig ini, const char subject, const char *key)

UPosition	operator* (const double scalar)

void	operator*= (const double scalar)

UPosition	operator+ (UPosition pos)

void	operator+= (const UPosition pos)

UPosition	operator- (UPosition pos)

void	operator-= (const UPosition pos)

UPosition	operator= (UMatrix4 vec)

UPosition	operator= (const URotation rot)

UPosition	operator= (const U2Dpos val)

void	print (const char *leadString)

void	println (const char *leadString)

bool	save (FILE fmap, const char key)

int	SaveToReg (Uconfig ini, const char subject, const char *key)

void	scale (const double val)

UPosition	scaled (const double val)

void	set (const double ix, const double iy, const double iz)

void	set (const int idx, const double value)

void	setPos (UPosition fromPos)

void	show (const char *leadString)

virtual void	snprint (const char leadString, char s, const int bufferLength)

void	sprint (char s, const char leadString)

void	subtract (const UPosition *pos)

UPosition	subtracted (UPosition *pos)

UPosition	subtracted (UPosition pos)

int	toUnitVector ()

void	transfer (UMatrix4 *mA)

UPosition	transferred (UMatrix4 *mA)

	UPosition ()

	UPosition (double ix, double iy, double iz)

	UPosition (double ix, double iy)

virtual	~UPosition ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from URotation
void	add (URotation *rot)

void	add (URotation rot)

void	add (double iOmega, double iPhi, double iKappa)

URotation	added (URotation *rot)

UMatrix4	asMatrix3x3CtoW ()

UMatrix4	asMatrix3x3K ()

UMatrix4	asMatrix3x3Kt ()

UMatrix4	asMatrix3x3MtoR ()

UMatrix4	asMatrix3x3O ()

UMatrix4	asMatrix3x3Ot ()

UMatrix4	asMatrix3x3P ()

UMatrix4	asMatrix3x3Pt ()

UMatrix4	asMatrix3x3RtoM ()

UMatrix4	asMatrix3x3WtoC ()

UMatrix4	asMatrix4x4CtoW ()

UMatrix4	asMatrix4x4CtoW (UPosition *pos)

UMatrix4	asMatrix4x4MtoR ()

UMatrix4	asMatrix4x4MtoR (UPosition *pos)

UMatrix4	asMatrix4x4MtoR (UPosition pos)

UMatrix4	asMatrix4x4RtoM ()

UMatrix4	asMatrix4x4RtoM (UPosition *pos)

UMatrix4	asMatrix4x4RtoM (UPosition pos)

UMatrix4	asMatrix4x4WtoC ()

UMatrix4	asMatrix4x4WtoC (UPosition *pos)

UMatrix4	asUnitZVector3CtoW ()

UMatrix4	asUnitZVector4CtoW ()

UMatrix4	asVector3 ()

UMatrix4	asVector4 ()

void	clear (void)

virtual const char *	codeXml (char buff, const int buffCnt, const char extra)

virtual const char *	codeXml (const char name, char buff, const int buffCnt, const char *extra)

int	copy (UMatrix4 *rot)

int	copy (UPosition *pos)

URotation *	getRot ()

void	LimitToPi ()

void	limitToPi ()

bool	load (const char *valueString)

int	LoadFromReg (Uconfig ini, const char subject, const char *key)

URotation	operator* (double val)

void	operator*= (double val)

URotation	operator+ (URotation rot)

void	operator+= (URotation rot)

URotation	operator- (URotation rot)

void	operator-= (URotation rot)

URotation	operator= (UMatrix4 vec)

URotation	operator= (UPosition pos)

void	print (const char *leadString)

bool	save (FILE fmap, const char key)

int	SaveToReg (Uconfig ini, const char subject, const char *key)

void	scale (double val)

URotation	scaled (double val)

void	set (double iOmega, double iPhi, double iKappa)

void	setFromYZ (UPosition posY, UPosition posZ)

void	setRot (URotation rot)

void	show (const char *leadString)

void	snprint (const char leadString, bool inDegree, char s, const int bufferLength)

void	sprint (char s, const char leadString, bool inDegree=true)

void	subtract (URotation *rot)

URotation	subtracted (URotation *rot)

	URotation ()

	URotation (double iOmega, double iPhi, double iKappa)

virtual	~URotation ()

Additional Inherited Members
Static Public Member Functions inherited from UPosition
static UPosition	position (double ix, double iy, double iz)

Public Attributes inherited from UPosition
double	x

double	y

double	z

Public Attributes inherited from URotation
double	Kappa

double	Omega

double	Phi

Detailed Description

A combination of position and orientation in 3D. This could describe an oriented coordinate system, where the position is that translation and the rotation is the rotation relative to a reference system.

Author: Christian Andersen

Constructor & Destructor Documentation

UPosRot::UPosRot ( )

Constructor

UPosRot::~UPosRot ( )

Destructor

Member Function Documentation

void UPosRot::clear ( void )

inline

Clear all values

References UPosition::clear(), and URotation::clear().

Referenced by UResLaserIfSf::handleSF(), and UPcpItem::UPcpItem().

UPlane UPosRot::getCamToRobPlane ( UPlane plane )

Convert this plane from camera to robot coordinates. Assumes that this pose is the camera pose relative to the robot.

Parameters

plane is the plane to convert.

Returns: the same plane in robot coordinates.

References getMtoRMatrix(), UPlane::getOnPlane(), getRtoMMatrix(), and UPlane::set().

Referenced by UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), and setTheta().

virtual const char* UPosRot::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UPosition.

double UPosRot::getKappa ( )

inline

Get kappa - rotation on z-axis (in radians)

References URotation::Kappa.

Referenced by UFunctionLaser::handleSetCommand().

UMatrix4 UPosRot::getMtoRMatrix ( )

inline

Get conversion matrix, that can convert a 3D position from a global coordinate system to the local coordinate system, when this posRot is the position of the local coordinate system in the global. Returns a UMatrix4 value

References URotation::asMatrix4x4MtoR(), getPos(), print(), setCtoR(), and setRtoC().

Referenced by UNamedBoxes::doDetect(), getCamToRobPlane(), UCamMounted::getMtoPix(), getRobToCamPlane(), setRtoC(), and testUPosRot().

double UPosRot::getOmega ( )

inline

Get omega - rotation on x-axis (in radians)

References URotation::Omega.

Referenced by UFunctionLaser::handleSetCommand().

double UPosRot::getPhi ( )

inline

Get phi - rotation on y-axis (in radians)

References URotation::Phi.

Referenced by ULaserMeasurement::clear(), UFunctionLaser::handleSetCommand(), ULaserData::setFakeDataRad(), and ULaserScan::setScan().

UPosition* UPosRot::getPos ( )

inline

Get position only

References UPosition::getPos().

Referenced by UCamPool::decodeReplayLine(), UClientFuncLaserGui::doRepaint(), USmlTag::getGmk(), getMtoRMatrix(), getRtoMMatrix(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UFunctionLaser::handleSetCommand(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), UCamPush::print(), UFunctionCamGmk::sendGmk(), setCtoR(), setRtoC(), UResCamIfGmk::snprint(), and testUPosRot().

UPosRot* UPosRot::getPosRot ( )

inline

Get UPosRot

Referenced by UFunctionCamGmk::handleGmkGetCommand(), and UResCamIfGmk::newDataAvailable().

UPlane UPosRot::getRobToCamPlane ( UPlane plane )

Convert this plane from robot to camera coordinates. Assumes that this pose is the camera pose relative to the robot.

Parameters

plane is the plane to convert.

Returns: the same plane in camera coordinates.

References getMtoRMatrix(), UPlane::getOnPlane(), getRtoMMatrix(), and UPlane::set().

Referenced by UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), and setTheta().

URotation* UPosRot::getRot ( )

inline

Get rotation only

References URotation::getRot().

Referenced by UCamPool::decodeReplayLine(), ULaserDevice::getDeviceRot(), USmlTag::getGmk(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UFunctionLaser::handleSetCommand(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), UCamPush::print(), UFunctionCamGmk::sendGmk(), and testUPosRot().

UMatrix4 UPosRot::getRtoMMatrix ( )

inline

Get conversion matrix, that can convert a 3D position from a local coordinate system to the global coordinate system, when this posRot is the position of the local coordinate system in the global. Returns a UMatrix4 value

References URotation::asMatrix4x4RtoM(), and getPos().

Referenced by UPaintBase::addCircleCloud(), UObstacleGroupLaser::addObst(), UFuncBallKL::calculateBallPosition(), UFuncBall::calculateBallPosition(), UFuncBall_improved::calculateBallPosition(), UNamedBoxes::doDetect(), UClientFuncLaserGui::doRepaint(), UFuncStraightLine::findWoldPoints(), getCamToRobPlane(), getRobToCamPlane(), UPaintLaserScan::makeScanCloud(), USFData::moveLocalToMap(), UFeatureData::moveLocalToOdo(), UNavPaint::paintCams(), UNavPaint::paintGmks(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UNavPaint::paintScanNewest(), UObstaclePool::pointsToPolygon(), setCtoR(), setRtoC(), UImg3Dpoints::toRobotCoordinates(), UPaintPcp::update(), and UResRoadLine::update().

double UPosRot::getTheta ( )

inline

Get Theta (same as kappa) - rotation on z-axis (in radians)

References URotation::Kappa.

double UPosRot::getX ( )

inline

Get x - front in meter

References UPosition::x.

Referenced by UFunctionLaser::handleSetCommand(), UNavPaint::paint(), UNavPaint::paintGmks(), UNavPaint::paintRangeRings(), UClientFuncLaserGui::paintRobotMmr(), UClientFuncLaserGui::paintRobotSmr(), and UFuncEfLine::sendBoxPose().

double UPosRot::getY ( )

inline

Get y - left in meter

References UPosition::y.

Referenced by UFunctionLaser::handleSetCommand(), UNavPaint::paintGmks(), and UNavPaint::paintRangeRings().

double UPosRot::getZ ( )

inline

Get z - height in meter

References UPosition::z.

Referenced by ULaserMeasurement::clear(), UResPassable::combineNearIntervals(), UFunctionLaser::handleSetCommand(), ULaserData::setFakeDataRad(), and ULaserScan::setScan().

UPosition UPosRot::pos ( )

inline

Get position only

References UPosition::getPos().

Referenced by UGmk::getCode(), UCamMounted::getPos(), and UResCamIfGmk::newDataAvailable().

void UPosRot::print ( const char * prestring )

Print values

References URotation::Kappa, URotation::Omega, URotation::Phi, UPosition::x, UPosition::y, and UPosition::z.

Referenced by getMtoRMatrix(), UClientFuncImage::gotNewCamInfo(), and testUPosRot().

URotation UPosRot::rot ( )

inline

Get rotation only

References URotation::getRot().

Referenced by UGmk::getCode(), UCamMounted::getRot(), set(), setCtoR(), and setRtoC().

void UPosRot::set	(	UPosition	pos,
		URotation	rot
	)

inline

Set from position and rotation

References rot(), UPosition::setPos(), and URotation::setRot().

Referenced by UVariable::get6D(), UCamMounted::getPosRot(), UResCamIfCam::gotNewData(), UFunctionCamGmk::handleGmkGetCommand(), UResLaserIfScan::handleLaserScan(), UNavPaint::paint(), UNavView::paint(), UNavPaint::paintCams(), UCamMounted::setPosOnRobot(), UCamMounted::setPosOnRobotCC(), testUPosRot(), and UResPassable::UResPassableInit().

void UPosRot::set	(	double	x,
		double	y,
		double	z,
		double	Omega,
		double	Phi,
		double	Kappa
	)

inline

Set directly from 6 values

References URotation::Kappa, UPosition::set(), and URotation::set().

void UPosRot::setCtoR	(	UPosRot *	camera,
		UPosRot *	guidemark,
		bool	mirror
	)

Convert this (guidemark) position and Rotation to map coordinates, when thw guidemark is seen from this (camera) position. If mirror is true, the guidemark is rotated to face the camera. Otherwise it is assumed to face the camera already (the values are not inspected).

References getPos(), getRtoMMatrix(), rot(), UPosition::set(), URotation::setFromYZ(), setPos(), and setRot().

Referenced by getMtoRMatrix(), UFunctionCamGmk::handleGmkGetCommand(), and testUPosRot().