[Personalrobots-commit] SF.net SVN: personalrobots: [34] pkg/trunk/libTF/simple

[<tf...@us...>]

Revision: 34
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=34&view=rev
Author:   tfoote
Date:     2008-03-26 13:49:00 -0700 (Wed, 26 Mar 2008)

Log Message:
-----------
lots of documentation in headers

Modified Paths:
--------------
    pkg/trunk/libTF/simple/libTF.cc
    pkg/trunk/libTF/simple/libTF.hh

Modified: pkg/trunk/libTF/simple/libTF.cc
===================================================================
--- pkg/trunk/libTF/simple/libTF.cc	2008-03-26 02:28:34 UTC (rev 33)
+++ pkg/trunk/libTF/simple/libTF.cc	2008-03-26 20:49:00 UTC (rev 34)
@@ -1,8 +1,7 @@
 #include "libTF.hh"
 
 RefFrame::RefFrame() :
-  parent(0),
-  active(false)
+  parent(0)
 {
   return;
 }
@@ -34,14 +33,12 @@
 }
 
 
-TransformReference::TransformReference():
-  mMat(4,4)
-{
-  
+/*TransformReference::TransformReference()
+ *{
+ * return;
+ *}
+ */
 
-  return;
-}
-
 void TransformReference::set(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d,double e,double f)
 {
   frames[frameID].setParent(parentID);

Modified: pkg/trunk/libTF/simple/libTF.hh
===================================================================
--- pkg/trunk/libTF/simple/libTF.hh	2008-03-26 02:28:34 UTC (rev 33)
+++ pkg/trunk/libTF/simple/libTF.hh	2008-03-26 20:49:00 UTC (rev 34)
@@ -10,43 +10,71 @@
 class RefFrame
 {
 public:
+  /* The type of frame
+   * This determines how many different parameters to expect to be updated, versus fixed */
   //  static enum FrameType {SIXDOF, DH //how to tell which mode it's in  //todo add this process i'm going to start with 6dof only
+
+  /* Constructor */
   RefFrame();
+
+  /* Set the parameters for this frame */
   void setParams(double, double, double, double, double, double);
+  
+  /* Get the parent node */
   inline unsigned int getParent(){return parent;};
+
+  /* Return tha parent node */
   inline void setParent(unsigned int parentID){parent = parentID;};
+
+  /* Generate and return the transform associated with gettingn into this frame */
   NEWMAT::Matrix getMatrix();
+  
+  /* Generate and return the transform associated with getting out of this frame.  */
   NEWMAT::Matrix getInverseMatrix();
 private:
+  /* Storage of the parametsrs */
   double params[6];
+
+  /* A helper function to build a homogeneous transform based on 6dof parameters */
   static  bool fill_transformation_matrix(NEWMAT::Matrix& matrix_pointer, double ax,
 					  double ay, double az, double yaw,
 					  double pitch, double roll);
+  /* Storage of the parent */
   unsigned int parent;
-  bool active;
 
 };
 
 class TransformReference
 {
  public:
+  /* Set a new frame or update an old one. */
   void set(unsigned int framid, unsigned int parentid, double,double,double,double,double,double);
+
+  /* Get the transform between two frames.  */
   NEWMAT::Matrix get(unsigned int target_frame, unsigned int source_frame);
 
-  TransformReference();
+  /* Constructor */
+  //  TransformReference();
+
+  /* Debugging function that will print to std::cout the transformation matrix */
   void view(unsigned int target_frame, unsigned int source_frame);
+
  private:
-  double rD[6];
-  NEWMAT::Matrix mMat;
+  /* The frames that the tree can be made of */
   RefFrame frames[100];
 
+
+  /* This struct is how the list of transforms are stored  before being generated. */
   typedef struct 
   {
     std::vector<unsigned int> inverseTransforms;
     std::vector<unsigned int> forwardTransforms;
   } TransformLists;
 
+  /* Find the list of connected frames necessary to connect two different frames */
   TransformLists  lookUpList(unsigned int target_frame, unsigned int source_frame);
+  
+  /* Compute the transform based on the list of frames */
   NEWMAT::Matrix computeTransformFromList(TransformLists list);
 
 };


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.