[Personalrobots-commit] SF.net SVN: personalrobots: [126] pkg/trunk/libTF/simple

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

Revision: 126
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=126&view=rev
Author:   tfoote
Date:     2008-04-17 17:35:41 -0700 (Thu, 17 Apr 2008)

Log Message:
-----------
cleaning up header and adding Inverse method

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	2008-04-18 00:32:02 UTC (rev 125)
+++ pkg/trunk/libTF/simple/libTF.cc	2008-04-18 00:35:41 UTC (rev 126)
@@ -33,42 +33,13 @@
 #include "libTF.hh"
 
 RefFrame::RefFrame() :
-  parent(0),
-  myQuat()
+  Quaternion3D(),
+  parent(0)
 {
   return;
 }
 
-/* Quaternion 3D version */
-void RefFrame::setParamsQuaternion3D(double a,double b,double c,double d,double e,double f, double g, unsigned long long time)
-{
-  myQuat.fromQuaternion(a,b,c,d,e,f,g,time);
-};
 
-/* Six DOF version */
-void RefFrame::setParamsEulers(double a,double b,double c,double d,double e,double f, unsigned long long time)
-{
-  myQuat.fromEuler(a,b,c,d,e,f,time) ;
-}
-
-/* DH Params version */
-void RefFrame::setParamsDH(double a,double b,double c,double d, unsigned long long time)
-{
-  myQuat.fromDH(a,b,c,d,time);
-}
-
-
-NEWMAT::Matrix RefFrame::getMatrix(unsigned long long time)
-{
-  return myQuat.getMatrix(time);
-}
-
-NEWMAT::Matrix RefFrame::getInverseMatrix(unsigned long long time)
-{
-  return myQuat.getMatrix(time).i();
-};
-
-
 TransformReference::TransformReference()
 {
   /* initialize pointers to NULL */
@@ -89,7 +60,7 @@
     frames[frameID] = new RefFrame();
   
   getFrame(frameID)->setParent(parentID);
-  getFrame(frameID)->setParamsEulers(a,b,c,d,e,f,time);
+  getFrame(frameID)->fromEuler(a,b,c,d,e,f,time);
 }
 
 void TransformReference::set(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d, unsigned long long time)
@@ -101,7 +72,7 @@
     frames[frameID] = new RefFrame();
   
   getFrame(frameID)->setParent(parentID);
-  getFrame(frameID)->setParamsDH(a,b,c,d,time);
+  getFrame(frameID)->fromDH(a,b,c,d,time);
 }
 
 

Modified: pkg/trunk/libTF/simple/libTF.hh
===================================================================
--- pkg/trunk/libTF/simple/libTF.hh	2008-04-18 00:32:02 UTC (rev 125)
+++ pkg/trunk/libTF/simple/libTF.hh	2008-04-18 00:35:41 UTC (rev 126)
@@ -40,34 +40,20 @@
 #include <vector>
 #include "Quaternion3D.hh"
 
-class RefFrame
+class RefFrame: public Quaternion3D 
 {
 public:
 
   /* Constructor */
   RefFrame();
 
-  /* Set the parameters for this frame */
-  void setParamsQuaternion3D(double, double, double, double, double, double, double, unsigned long long time);
-  void setParamsEulers(double, double, double, double, double, double, unsigned long long time);
-  void setParamsDH(double, double, double, double, unsigned long long time);
   
   /* 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(unsigned long long time);
-  
-  /* Generate and return the transform associated with getting out of this frame.  */
-  NEWMAT::Matrix getInverseMatrix(unsigned long long time);
-
-
 private:
-  /* Storage of the parametsrs */
-  Quaternion3D myQuat;
 
   /* Storage of the parent */
   unsigned int parent;


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