BB.Message.Geometry.Transform (bb v0.2.1)

A transformation in 3D space (translation and rotation).

Represents the relationship between two coordinate frames.

Fields

translation - Translation as {:vec3, x, y, z} in metres
rotation - Rotation as {:quaternion, x, y, z, w}

Examples

alias BB.Message.Geometry.Transform
alias BB.Message.{Vec3, Quaternion}

{:ok, msg} = Transform.new(:base_link, Vec3.new(0.0, 0.0, 1.0), Quaternion.identity())

Summary

Types

t()

Functions

new(frame_id, attrs)

new(frame_id, translation, rotation)

Create a new Transform message.

Types

t()

@type t() :: %BB.Message.Geometry.Transform{
  rotation: BB.Message.Quaternion.t(),
  translation: BB.Message.Vec3.t()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}

new(frame_id, translation, rotation)

@spec new(atom(), BB.Message.Vec3.t(), BB.Message.Quaternion.t()) ::
  {:ok, BB.Message.t()} | {:error, term()}

Create a new Transform message.

Returns {:ok, %BB.Message{}} with the transform as payload.

Examples

alias BB.Message.{Vec3, Quaternion}

{:ok, msg} = Transform.new(:base_link, Vec3.new(0.0, 0.0, 1.0), Quaternion.identity())