osgExtension::Transform Class Reference

an osg::Transform with a covariance matrix.

Inherited by osgEstimate::TransformCombiner, osgExtension::PendingTransform, and osgTracker::TrackedTransform.

Public Member Functions
	Transform (const Transform &, const osg::CopyOp &copyop=osg::CopyOp::SHALLOW_COPY)
	Copy constructor using CopyOp to manage deep vs shallow copy.
	Transform (const osg::Matrix &matrix)
	META_Node (osgExtension, Transform)
MatrixEstimate &	getMatrixEstimate ()
	Get the pose estimate.
const MatrixEstimate &	getMatrixEstimate () const
	Get the pose estimate.
void	setMatrix (const osg::Matrix &mat)
void	setMatrix (float[4][4])
const osg::Matrix &	getInverseMatrix () const
virtual bool	computeLocalToWorldMatrix (osg::Matrix &m, osg::NodeVisitor *) const
virtual bool	computeWorldToLocalMatrix (osg::Matrix &m, osg::NodeVisitor *) const
void	setPositionCovariance (double sigmaX, double sigmaY, double sigmaZ)
void	setOrientationCovariance (double sigmaEX, double sigmaEY, double sigmaEZ)
void	setQuaternionOrientationCovariance (double sigmaQX, double sigmaQY, double sigmaQZ, double sigmaQW)
Protected Attributes
osg::Matrix	_inverse
osg::Matrix	_matrix
bool	_inverseDirty
MatrixEstimate	_me
boost::numeric::ublas::matrix< double >	PV
boost::numeric::ublas::matrix< double >	PQ

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Member Function Documentation

const osg::Matrix& osgExtension::Transform::getInverseMatrix (   )  const [inline]

Get the inverse matrix.

void Transform::setMatrix (  float  [4][4]  )

Set the new transformation. The covariance of this transformation is calculated from the covariances which have been set by the setPositionCovariance and setOrientationCovariance methods.

void Transform::setMatrix (  const osg::Matrix &  mat  )

Set the new transformation. The covariance of this transformation is calculated from the covariances which have been set by the setPositionCovariance and setOrientationCovariance methods.

void Transform::setOrientationCovariance (  double  sigmaEX, double  sigmaEY, double  sigmaEZ )

Set the covariance in the orientation measurement, using Euler angles. Internally these are used to perturb a quaternion and are treated as a rotation about X followed by Y, followed by Z. These seem to correspond to pitch, yaw and roll respectively. The units are current in radians^2.

void Transform::setPositionCovariance (  double  sigmaX, double  sigmaY, double  sigmaZ )

Set the covariance in the position measurement.

void Transform::setQuaternionOrientationCovariance (  double  sigmaQX, double  sigmaQY, double  sigmaQZ, double  sigmaQW )

Set the covariance in the orientation measurement, using quaternions.

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

• Transform
• Transform.cpp

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