UMapZGmk Class Reference

#include <umapgmk.h>

Public Member Functions
void	clear ()
float	getBlock ()
int	getFrame ()
unsigned long	getID ()
URotation	getOri ()
URotation	getOriSD ()
UPosition	getPos ()
UPosition	getPosSD ()
void	setID (const unsigned long ID)
void	setOrientation (const URotation *r, const URotation *sd)
void	setPosition (const UPosition *z, const UPosition *sd, const UTime t)
	UMapZGmk ()
	UMapZGmk (float block, int frame)
	~UMapZGmk ()

Private Attributes
float	blockSize
unsigned long	code
int	frameSize
URotation	zOri
URotation	zOriSD
bool	zOriValid
UPosition	zPos
UPosition	zPosSD
UTime	zT

Detailed Description

Guidemark measurement iformation

Constructor & Destructor Documentation

UMapZGmk::UMapZGmk

(

)

Constructor

UMapZGmk::UMapZGmk	(	float	block,
		int	frame
	)

Constructor with specific code plock size

UMapZGmk::~UMapZGmk

(

)

Destructor

Member Function Documentation

void UMapZGmk::clear

(

)

Clear measurement and including ID and size

float UMapZGmk::getBlock ( )

inline

Get guidemark block size (in meter).

References UMapGmk::blockSize, and UMapGmk::code.

int UMapZGmk::getFrame ( )

inline

Get guidemark code frame size (in blocks).

References UMapGmk::frameSize.

unsigned long UMapZGmk::getID ( )

inline

Get ID

References UMapGmk::code.

URotation UMapZGmk::getOri ( )

inline

get measuret orientation of guidemark (relative to robot) (O,P,K)R

URotation UMapZGmk::getOriSD ( )

inline

Get orientation measurement SD (in robot coordinates) (O,P,K)R

UPosition UMapZGmk::getPos ( )

inline

Get measured position relative to robot (x,y,z)R

UPosition UMapZGmk::getPosSD ( )

inline

Get position measurement SD (in robot coordinates) (x,y,z)R

void UMapZGmk::setID

(

const unsigned long

ID

)

Set Guidemark code. Code 0 is invalid

void UMapZGmk::setOrientation	(	const URotation *	r,
		const URotation *	sd
	)

Set measured rotation and rotation SD. If rotation is not set, then it is assumed unvalid

void UMapZGmk::setPosition	(	const UPosition *	z,
		const UPosition *	sd,
		const UTime	t
	)

Set measurement position ad SD.

Member Data Documentation

float UMapZGmk::blockSize

private

Guidemark block size in meter

unsigned long UMapZGmk::code

private

Guidemar (unique) ID

int UMapZGmk::frameSize

private

Guidemark frame size (in blocks)

URotation UMapZGmk::zOri

private

Measurement rotation (3D)

URotation UMapZGmk::zOriSD

private

Rotation measurement SD error (i.e. v_k)

bool UMapZGmk::zOriValid

private

Is rotation measurement valid?

UPosition UMapZGmk::zPos

private

Measurement position (3D)

UPosition UMapZGmk::zPosSD

private

Position measurement SD error (i.e. v_k)

UTime UMapZGmk::zT

private

Measurement time

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

• umapgmk.h