edu.wpi.rail.jrosbridge.messages.geometry

Class Transform

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.Transform

public class Transform
extends Message

The geometry_msgs/Transform message. This represents the transform between two coordinate frames in free space.

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_ROTATION The name of the rotation field for the message.
static String	FIELD_TRANSLATION The name of the translation field for the message.
static String	TYPE The message type.

Fields inherited from class edu.wpi.rail.jrosbridge.messages.Message

EMPTY_MESSAGE

Fields inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

EMPTY_JSON

Constructor Summary

Constructors

Constructor and Description
Transform() Create a new Transform with all 0s.
Transform(Vector3 translation, Quaternion rotation) Create a new Transform with the given translation and rotation values.

Method Summary

Methods

Modifier and Type	Method and Description
Transform	clone() Create a clone of this Transform.
static Transform	fromJsonObject(javax.json.JsonObject jsonObject) Create a new Transform based on the given JSON object.
static Transform	fromJsonString(String jsonString) Create a new Transform based on the given JSON string.
static Transform	fromMessage(Message m) Create a new Transform based on the given Message.
Quaternion	getRotation() Get the rotation value of this transform.
Vector3	getTranslation() Get the translation value of this transform.

Methods inherited from class edu.wpi.rail.jrosbridge.messages.Message

getMessageType, setMessageType

Methods inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

equals, hashCode, toJsonObject, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

FIELD_TRANSLATION

public static final String FIELD_TRANSLATION

The name of the translation field for the message.

See Also:

Constant Field Values

FIELD_ROTATION

public static final String FIELD_ROTATION

The name of the rotation field for the message.

See Also:

Constant Field Values

TYPE

public static final String TYPE

The message type.

See Also:

Constant Field Values

Constructor Detail

Transform

public Transform()

Create a new Transform with all 0s.

Transform

public Transform(Vector3 translation,
         Quaternion rotation)

Create a new Transform with the given translation and rotation values.

Parameters:

translation - The translation value of the transform.

rotation - The rotation value of the transform.

Method Detail

getTranslation

public Vector3 getTranslation()

Get the translation value of this transform.

Returns:

The translation value of this transform.

getRotation

public Quaternion getRotation()

Get the rotation value of this transform.

Returns:

The rotation value of this transform.

clone

public Transform clone()

Create a clone of this Transform.

Overrides:

clone in class Message

fromJsonString

public static Transform fromJsonString(String jsonString)

Create a new Transform based on the given JSON string. Any missing values will be set to their defaults.

Parameters:

jsonString - The JSON string to parse.

Returns:

A Transform message based on the given JSON string.

fromMessage

public static Transform fromMessage(Message m)

Create a new Transform based on the given Message. Any missing values will be set to their defaults.

Parameters:

m - The Message to parse.

Returns:

A Transform message based on the given Message.

fromJsonObject

public static Transform fromJsonObject(javax.json.JsonObject jsonObject)

Create a new Transform based on the given JSON object. Any missing values will be set to their defaults.

Parameters:

jsonObject - The JSON object to parse.

Returns:

A Transform message based on the given JSON object.