BeamObstaclePlane Class Reference

A plane obstacle for a beam. More...

#include <BeamObstaclePlane.hpp>

Public Member Functions
	BeamObstaclePlane (const rw::geometry::Plane &plane, const rw::math::Transform3D<> &trans)
	Constructor. More...
rw::math::Transform3D	getTransform (void) const
	returns the world to plane transformation More...
void	setTransform (const rw::math::Transform3D<> &trans)
	sets the world to plane transformation More...
double	get_yTCP (const rw::math::Transform3D<> &planeTbeam) const
	given the plane to beam tranformation, returns yTCP More...
double	get_thetaTCP (const rw::math::Transform3D<> &planeTbeam) const
	given the plane to beam transformation, returns thetaTCP More...
rw::math::Transform3D	compute_planeTbeam (const rw::math::Transform3D<> &Tbeam)
	computes the plane to beam transformation, given the world to beam transformation More...
rw::geometry::Plane::Ptr	getPlane (void) const
	returns the plane More...
rw::geometry::Geometry::Ptr	getPlaneGeometry (void) const
	returns the geometry of the plane More...

Detailed Description

A plane obstacle for a beam.

Constructor & Destructor Documentation

BeamObstaclePlane()

BeamObstaclePlane	(	const rw::geometry::Plane &	plane,
		const rw::math::Transform3D<> &	trans
	)

Constructor.

Parameters

plane	the plane defining the obstacle
trans	the world to plane transformation

Member Function Documentation

compute_planeTbeam()

rw::math::Transform3D compute_planeTbeam

(

const rw::math::Transform3D<> &

Tbeam

)

computes the plane to beam transformation, given the world to beam transformation

Parameters

Tbeam

world to beam transformation

Returns

plane to beam transformation

get_thetaTCP()

double get_thetaTCP

(

const rw::math::Transform3D<> &

planeTbeam

)

const

given the plane to beam transformation, returns thetaTCP

Parameters

planeTbeam

the transformation from the plane to the beam

Returns

thetaTCP in radians

get_yTCP()

double get_yTCP

(

const rw::math::Transform3D<> &

planeTbeam

)

const

given the plane to beam tranformation, returns yTCP

Parameters

planeTbeam

the transformation from the plane to the beam..

Returns

yTCP in millimeters

getPlane()

rw::geometry::Plane::Ptr getPlane

(

void

)

const

returns the plane

Returns

the plane

getPlaneGeometry()

rw::geometry::Geometry::Ptr getPlaneGeometry

(

void

)

const

returns the geometry of the plane

Returns

geometry of plane

getTransform()

rw::math::Transform3D getTransform

(

void

)

const

returns the world to plane transformation

Returns

world to plane transformation

setTransform()

void setTransform

(

const rw::math::Transform3D<> &

trans

)

sets the world to plane transformation

Parameters

trans

world to plane transformation

---

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

• BeamObstaclePlane.hpp