Public Member Functions
	PoseTransformer ()
	Explicit constructor for PoseTransformer class. Initializes robot frame and camera frame as an identity matrix.

void	set_cam_frame (std::vector< double >)
	Sets camera frame by creating 4x4 homogenous matrix based on camera's translation and rotation w.r.t world frame. More...

void	set_robot_frame (std::vector< double >)
	Sets robot frame by creating 4x4 homogenous matrix based on robot's translation and rotation w.r.t world frame. More...

std::vector< double >	get_pose_in_robot_frame (std::vector< double >)
	Transforms coordinates from camera frame to robot frame. More...

Member Function Documentation

◆ get_pose_in_robot_frame()

std::vector< double > PoseTransformer::get_pose_in_robot_frame ( std::vector< double > position_ )

Transforms coordinates from camera frame to robot frame.

Parameters

position_ vector<double> is a 3 element vector containing {x, y, z} of human in camera frame

Returns: std::vector<double> newPose is a 3 element vector containing {x, y, z} of human in robot frame

void PoseTransformer::set_cam_frame ( std::vector< double > camFrame_ )

Sets camera frame by creating 4x4 homogenous matrix based on camera's translation and rotation w.r.t world frame.

Parameters

camFrame_ vector<double> containing 6 elements {x, y, z, roll, pitch, yaw} in meters and radians

void PoseTransformer::set_robot_frame ( std::vector< double > robotFrame_ )

Sets robot frame by creating 4x4 homogenous matrix based on robot's translation and rotation w.r.t world frame.

Parameters

robotFrame_ vector<double> containing 6 elements {x, y, z, roll, pitch, yaw} in meters and radians

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