Transform Class Reference

Detailed Description

A specification for a 3d rotation and translation, optionally with respect to a base frame.

For an overview of configuring stochastic transforms, see Configuring transforms and Configuring distributions.

See Implementing Serialize for implementation details, especially the unusually public member fields.

#include <drake/common/schema/transform.h>

Public Member Functions
	Transform ()=default
	Constructs the Identity transform.
	Transform (const math::RigidTransformd &)
	Constructs the given transform.
void	set_rotation_rpy_deg (const Eigen::Vector3d &rpy_deg)
	Sets the rotation field to the given deterministic RPY, in degrees.
bool	IsDeterministic () const
	Returns true iff this is fully deterministic.
math::RigidTransformd	GetDeterministicValue () const
	If this is deterministic, retrieves its value.
math::RigidTransform< symbolic::Expression >	ToSymbolic () const
	Returns the symbolic form of this rotation.
math::RigidTransformd	Mean () const
	Returns the mean of this rotation.
math::RigidTransformd	Sample (RandomGenerator *generator) const
	Samples this Transform.
Transform	SampleAsTransform (RandomGenerator *generator) const
	Samples this Transform; the returned value is deterministic and has the same base frame.
template<typename Archive>
void	Serialize (Archive *a)
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Transform (const Transform &)=default
Transform &	operator= (const Transform &)=default
	Transform (Transform &&)=default
Transform &	operator= (Transform &&)=default

Public Attributes
std::optional< std::string >	base_frame
	An optional base frame name for this transform.
DistributionVectorVariant< 3 >	translation {Eigen::Vector3d::Zero()}
	A translation vector, in meters.
Rotation	rotation
	A variant that allows for several ways to specify a rotation.

Constructor & Destructor Documentation

Transform() [1/4]

Transform ( const Transform & )

default

Transform() [2/4]

Transform ( Transform && )

default

Transform() [3/4]

Transform ( )

default

Constructs the Identity transform.

Transform() [4/4]

Transform ( const math::RigidTransformd & )

explicit

Constructs the given transform.

Member Function Documentation

GetDeterministicValue()

math::RigidTransformd GetDeterministicValue

(

)

const

If this is deterministic, retrieves its value.

Exceptions

std::exception

if this is not fully deterministic.

IsDeterministic()

bool IsDeterministic

(

)

const

Returns true iff this is fully deterministic.

Mean()

math::RigidTransformd Mean

(

)

const

Returns the mean of this rotation.

If this is deterministic, the result is the same as GetDeterministicValue. If this is random, note that the mean here is simply defined as setting all of the random variables individually to their mean. Various other measures of the resulting RigidTransform (e.g., the distribution of one of the Euler angles) may not necessarily match that measure on the returned value.

operator=() [1/2]

Transform & operator= ( const Transform & )

default

operator=() [2/2]

Transform & operator= ( Transform && )

default

Sample()

math::RigidTransformd Sample

(

RandomGenerator *

generator

)

const

Samples this Transform.

If this is deterministic, the result is the same as GetDeterministicValue.

SampleAsTransform()

Transform SampleAsTransform

(

RandomGenerator *

generator

)

const

Samples this Transform; the returned value is deterministic and has the same base frame.

Serialize()

template<typename Archive>

void Serialize

(

Archive *

a

)

set_rotation_rpy_deg()

void set_rotation_rpy_deg

(

const Eigen::Vector3d &

rpy_deg

)

Sets the rotation field to the given deterministic RPY, in degrees.

ToSymbolic()

math::RigidTransform< symbolic::Expression > ToSymbolic

(

)

const

Returns the symbolic form of this rotation.

If this is deterministic, the result will contain no variables. If this is random, the result will contain one or more random variables, based on the distributions in use.

Member Data Documentation

base_frame

std::optional<std::string> base_frame

An optional base frame name for this transform.

When left unspecified, the default depends on the semantics of the enclosing struct.

rotation

Rotation rotation

A variant that allows for several ways to specify a rotation.

translation

DistributionVectorVariant<3> translation {Eigen::Vector3d::Zero()}

A translation vector, in meters.

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

• drake/common/schema/transform.h