List of all members | Public Types | Public Member Functions | Public Attributes
FramedPointCloud< _PointT > Class Template Reference

A point cloud which keeps track of its reference coordinate frame and allows changing frames using armarx::FramedPose. More...

#include <VisionX/libraries/PointCloudTools/FramedPointCloud.h>

Public Types

using PointCloudPtrT = typename PointCloudT::Ptr
 
using PointCloudT = pcl::PointCloud<PointT>
 
using PointT = _PointT
 

Public Member Functions

void changeFrame (const std::string &newFrame, const VirtualRobot::RobotConstPtr &robot)
 Transform the point cloud from the current frame to the new frame using the given reference robot.
 
 FramedPointCloud ()=default
 Construct an empty point cloud in global frame.
 
 FramedPointCloud (const std::string &frameName)
 Construct an empty point cloud residing in given frame.
 
 FramedPointCloud (PointCloudPtrT pointCloudPtr)
 Construct a framed point cloud managing given point cloud in global frame.
 
 FramedPointCloud (PointCloudPtrT pointCloudPtr, const std::string &frameName)
 Construct a framed point cloud managing given point cloud residing in given frame.
 
std::string getFrame () const
 Get the current frame.
 
armarx::FramedPose getFramedPose (const std::string &agentName) const
 Get the current pose as FramedPose.
 
armarx::FramedPose getFramedPose (const VirtualRobot::RobotConstPtr &robot) const
 
Eigen::Matrix4f getGlobalPose (const VirtualRobot::RobotConstPtr &robot) const
 Get the current global pose.
 
void setFrameWithoutTransformation (const std::string &f)
 
void transformBy (const Eigen::Matrix4f &transform)
 

Public Attributes

PointCloudPtrT cloud {new PointCloudT()}
 The point cloud.
 

Detailed Description

template<class _PointT>
class visionx::FramedPointCloud< _PointT >

A point cloud which keeps track of its reference coordinate frame and allows changing frames using armarx::FramedPose.

Definition at line 35 of file FramedPointCloud.h.

Member Typedef Documentation

◆ PointCloudPtrT

template<class _PointT>
using PointCloudPtrT = typename PointCloudT::Ptr

Definition at line 40 of file FramedPointCloud.h.

◆ PointCloudT

template<class _PointT>
using PointCloudT = pcl::PointCloud<PointT>

Definition at line 39 of file FramedPointCloud.h.

◆ PointT

template<class _PointT>
using PointT = _PointT

Definition at line 38 of file FramedPointCloud.h.

Constructor & Destructor Documentation

◆ FramedPointCloud() [1/4]

template<class _PointT>
FramedPointCloud ( )
default

Construct an empty point cloud in global frame.

◆ FramedPointCloud() [2/4]

template<class _PointT>
FramedPointCloud ( const std::string & frameName)
inline

Construct an empty point cloud residing in given frame.

Definition at line 47 of file FramedPointCloud.h.

◆ FramedPointCloud() [3/4]

template<class _PointT>
FramedPointCloud ( PointCloudPtrT pointCloudPtr)
inline

Construct a framed point cloud managing given point cloud in global frame.

Definition at line 52 of file FramedPointCloud.h.

◆ FramedPointCloud() [4/4]

template<class _PointT>
FramedPointCloud ( PointCloudPtrT pointCloudPtr,
const std::string & frameName )
inline

Construct a framed point cloud managing given point cloud residing in given frame.

Definition at line 57 of file FramedPointCloud.h.

Member Function Documentation

◆ changeFrame()

template<class _PointT>
void changeFrame ( const std::string & newFrame,
const VirtualRobot::RobotConstPtr & robot )
inline

Transform the point cloud from the current frame to the new frame using the given reference robot.

Definition at line 97 of file FramedPointCloud.h.

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◆ getFrame()

template<class _PointT>
std::string getFrame ( ) const
inline

Get the current frame.

Definition at line 64 of file FramedPointCloud.h.

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◆ getFramedPose() [1/2]

template<class _PointT>
armarx::FramedPose getFramedPose ( const std::string & agentName) const
inline

Get the current pose as FramedPose.

Definition at line 77 of file FramedPointCloud.h.

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◆ getFramedPose() [2/2]

template<class _PointT>
armarx::FramedPose getFramedPose ( const VirtualRobot::RobotConstPtr & robot) const
inline

Definition at line 83 of file FramedPointCloud.h.

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◆ getGlobalPose()

template<class _PointT>
Eigen::Matrix4f getGlobalPose ( const VirtualRobot::RobotConstPtr & robot) const
inline

Get the current global pose.

Definition at line 90 of file FramedPointCloud.h.

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◆ setFrameWithoutTransformation()

template<class _PointT>
void setFrameWithoutTransformation ( const std::string & f)
inline

Definition at line 70 of file FramedPointCloud.h.

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◆ transformBy()

template<class _PointT>
void transformBy ( const Eigen::Matrix4f & transform)
inline

Definition at line 104 of file FramedPointCloud.h.

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Member Data Documentation

◆ cloud

template<class _PointT>
PointCloudPtrT cloud {new PointCloudT()}

The point cloud.

Definition at line 111 of file FramedPointCloud.h.

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