test_class.file: rosjava/nrosjava_geometry/src/test/java/org/ros/rosjava_geometry/TransformTest.java
test_class.identifier: TransformTest
test_case.body: @Test
    public void testInvert() {
      Transform transform =
          new Transform(Vector3.yAxis(), Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2));
      Transform inverse = transform.invert();
  
      assertEquals(-1.0, inverse.getTranslation().getX(), 1e-9);
      assertEquals(0.0, inverse.getTranslation().getY(), 1e-9);
      assertEquals(0.0, inverse.getTranslation().getZ(), 1e-9);
      assertEquals(0.0, inverse.getRotationAndScale().getX(), 1e-9);
      assertEquals(0.0, inverse.getRotationAndScale().getY(), 1e-9);
      assertEquals(-0.7071067811865475, inverse.getRotationAndScale().getZ(), 1e-9);
      assertEquals(0.7071067811865475, inverse.getRotationAndScale().getW(), 1e-9);
  
      Transform neutral = transform.multiply(inverse);
      assertTrue(neutral.almostEquals(Transform.identity(), 1e-9));
    }
test_case.class_method_signature: TransformTest.testInvert()
test_case.full_signature: @Test public void testInvert()
test_case.identifier: testInvert
test_case.invocations: yAxis fromAxisAngle zAxis invert assertEquals getX getTranslation assertEquals getY getTranslation assertEquals getZ getTranslation assertEquals getX getRotationAndScale assertEquals getY getRotationAndScale assertEquals getZ getRotationAndScale assertEquals getW getRotationAndScale multiply assertTrue almostEquals identity
test_case.modifiers: @Test public
test_case.parameters: ()
test_case.return: void
test_case.signature: void testInvert()
focal_class.declarator: translation
focal_class.modifier: private
focal_class.original_string: private Vector3 translation;
focal_class.type: Vector3
focal_class.var_name: translation
focal_class.declarator: rotationAndScale
focal_class.modifier: private
focal_class.original_string: private Quaternion rotationAndScale;
focal_class.type: Quaternion
focal_class.var_name: rotationAndScale
focal_class.file: rosjava/nrosjava_geometry/src/main/java/org/ros/rosjava_geometry/Transform.java
focal_class.identifier: Transform
focal_class.class_method_signature: Transform.fromTransformMessage(geometry_msgs.Transform message)
focal_class.full_signature: public static Transform fromTransformMessage(geometry_msgs.Transform message)
focal_class.identifier: fromTransformMessage
focal_class.modifiers: public static
focal_class.parameters: (geometry_msgs.Transform message)
focal_class.return: Transform
focal_class.signature: Transform fromTransformMessage(geometry_msgs.Transform message)
focal_class.class_method_signature: Transform.fromPoseMessage(geometry_msgs.Pose message)
focal_class.full_signature: public static Transform fromPoseMessage(geometry_msgs.Pose message)
focal_class.identifier: fromPoseMessage
focal_class.modifiers: public static
focal_class.parameters: (geometry_msgs.Pose message)
focal_class.return: Transform
focal_class.signature: Transform fromPoseMessage(geometry_msgs.Pose message)
focal_class.class_method_signature: Transform.identity()
focal_class.full_signature: public static Transform identity()
focal_class.identifier: identity
focal_class.modifiers: public static
focal_class.parameters: ()
focal_class.return: Transform
focal_class.signature: Transform identity()
focal_class.class_method_signature: Transform.xRotation(double angle)
focal_class.full_signature: public static Transform xRotation(double angle)
focal_class.identifier: xRotation
focal_class.modifiers: public static
focal_class.parameters: (double angle)
focal_class.return: Transform
focal_class.signature: Transform xRotation(double angle)
focal_class.class_method_signature: Transform.yRotation(double angle)
focal_class.full_signature: public static Transform yRotation(double angle)
focal_class.identifier: yRotation
focal_class.modifiers: public static
focal_class.parameters: (double angle)
focal_class.return: Transform
focal_class.signature: Transform yRotation(double angle)
focal_class.class_method_signature: Transform.zRotation(double angle)
focal_class.full_signature: public static Transform zRotation(double angle)
focal_class.identifier: zRotation
focal_class.modifiers: public static
focal_class.parameters: (double angle)
focal_class.return: Transform
focal_class.signature: Transform zRotation(double angle)
focal_class.class_method_signature: Transform.translation(double x, double y, double z)
focal_class.full_signature: public static Transform translation(double x, double y, double z)
focal_class.identifier: translation
focal_class.modifiers: public static
focal_class.parameters: (double x, double y, double z)
focal_class.return: Transform
focal_class.signature: Transform translation(double x, double y, double z)
focal_class.class_method_signature: Transform.translation(Vector3 vector)
focal_class.full_signature: public static Transform translation(Vector3 vector)
focal_class.identifier: translation
focal_class.modifiers: public static
focal_class.parameters: (Vector3 vector)
focal_class.return: Transform
focal_class.signature: Transform translation(Vector3 vector)
focal_class.class_method_signature: Transform.Transform(Vector3 translation, Quaternion rotation)
focal_class.full_signature: public  Transform(Vector3 translation, Quaternion rotation)
focal_class.identifier: Transform
focal_class.modifiers: public
focal_class.parameters: (Vector3 translation, Quaternion rotation)
focal_class.signature:  Transform(Vector3 translation, Quaternion rotation)
focal_class.class_method_signature: Transform.multiply(Transform other)
focal_class.full_signature: public Transform multiply(Transform other)
focal_class.identifier: multiply
focal_class.modifiers: public
focal_class.parameters: (Transform other)
focal_class.return: Transform
focal_class.signature: Transform multiply(Transform other)
focal_class.class_method_signature: Transform.invert()
focal_class.full_signature: public Transform invert()
focal_class.identifier: invert
focal_class.modifiers: public
focal_class.parameters: ()
focal_class.return: Transform
focal_class.signature: Transform invert()
focal_class.class_method_signature: Transform.apply(Vector3 vector)
focal_class.full_signature: public Vector3 apply(Vector3 vector)
focal_class.identifier: apply
focal_class.modifiers: public
focal_class.parameters: (Vector3 vector)
focal_class.return: Vector3
focal_class.signature: Vector3 apply(Vector3 vector)
focal_class.class_method_signature: Transform.apply(Quaternion quaternion)
focal_class.full_signature: public Quaternion apply(Quaternion quaternion)
focal_class.identifier: apply
focal_class.modifiers: public
focal_class.parameters: (Quaternion quaternion)
focal_class.return: Quaternion
focal_class.signature: Quaternion apply(Quaternion quaternion)
focal_class.class_method_signature: Transform.scale(double factor)
focal_class.full_signature: public Transform scale(double factor)
focal_class.identifier: scale
focal_class.modifiers: public
focal_class.parameters: (double factor)
focal_class.return: Transform
focal_class.signature: Transform scale(double factor)
focal_class.class_method_signature: Transform.getScale()
focal_class.full_signature: public double getScale()
focal_class.identifier: getScale
focal_class.modifiers: public
focal_class.parameters: ()
focal_class.return: double
focal_class.signature: double getScale()
focal_class.class_method_signature: Transform.toMatrix()
focal_class.full_signature: public double[] toMatrix()
focal_class.identifier: toMatrix
focal_class.modifiers: public
focal_class.parameters: ()
focal_class.return: double[]
focal_class.signature: double[] toMatrix()
focal_class.class_method_signature: Transform.toTransformMessage(geometry_msgs.Transform result)
focal_class.full_signature: public geometry_msgs.Transform toTransformMessage(geometry_msgs.Transform result)
focal_class.identifier: toTransformMessage
focal_class.modifiers: public
focal_class.parameters: (geometry_msgs.Transform result)
focal_class.return: geometry_msgs.Transform
focal_class.signature: geometry_msgs.Transform toTransformMessage(geometry_msgs.Transform result)
focal_class.class_method_signature: Transform.toPoseMessage(geometry_msgs.Pose result)
focal_class.full_signature: public geometry_msgs.Pose toPoseMessage(geometry_msgs.Pose result)
focal_class.identifier: toPoseMessage
focal_class.modifiers: public
focal_class.parameters: (geometry_msgs.Pose result)
focal_class.return: geometry_msgs.Pose
focal_class.signature: geometry_msgs.Pose toPoseMessage(geometry_msgs.Pose result)
focal_class.class_method_signature: Transform.toPoseStampedMessage(GraphName frame, Time stamp,
        geometry_msgs.PoseStamped result)
focal_class.full_signature: public geometry_msgs.PoseStamped toPoseStampedMessage(GraphName frame, Time stamp,
        geometry_msgs.PoseStamped result)
focal_class.identifier: toPoseStampedMessage
focal_class.modifiers: public
focal_class.parameters: (GraphName frame, Time stamp,
        geometry_msgs.PoseStamped result)
focal_class.return: geometry_msgs.PoseStamped
focal_class.signature: geometry_msgs.PoseStamped toPoseStampedMessage(GraphName frame, Time stamp,
        geometry_msgs.PoseStamped result)
focal_class.class_method_signature: Transform.almostEquals(Transform other, double epsilon)
focal_class.full_signature: public boolean almostEquals(Transform other, double epsilon)
focal_class.identifier: almostEquals
focal_class.modifiers: public
focal_class.parameters: (Transform other, double epsilon)
focal_class.return: boolean
focal_class.signature: boolean almostEquals(Transform other, double epsilon)
focal_class.class_method_signature: Transform.getTranslation()
focal_class.full_signature: @VisibleForTesting Vector3 getTranslation()
focal_class.identifier: getTranslation
focal_class.modifiers: @VisibleForTesting
focal_class.parameters: ()
focal_class.return: Vector3
focal_class.signature: Vector3 getTranslation()
focal_class.class_method_signature: Transform.getRotationAndScale()
focal_class.full_signature: @VisibleForTesting Quaternion getRotationAndScale()
focal_class.identifier: getRotationAndScale
focal_class.modifiers: @VisibleForTesting
focal_class.parameters: ()
focal_class.return: Quaternion
focal_class.signature: Quaternion getRotationAndScale()
focal_class.class_method_signature: Transform.toString()
focal_class.full_signature: @Override public String toString()
focal_class.identifier: toString
focal_class.modifiers: @Override public
focal_class.parameters: ()
focal_class.return: String
focal_class.signature: String toString()
focal_class.class_method_signature: Transform.hashCode()
focal_class.full_signature: @Override public int hashCode()
focal_class.identifier: hashCode
focal_class.modifiers: @Override public
focal_class.parameters: ()
focal_class.return: int
focal_class.signature: int hashCode()
focal_class.class_method_signature: Transform.equals(Object obj)
focal_class.full_signature: @Override public boolean equals(Object obj)
focal_class.identifier: equals
focal_class.modifiers: @Override public
focal_class.parameters: (Object obj)
focal_class.return: boolean
focal_class.signature: boolean equals(Object obj)
focal_method.body: public Transform invert() {
      Quaternion inverseRotationAndScale = rotationAndScale.invert();
      return new Transform(inverseRotationAndScale.rotateAndScaleVector(translation.invert()),
          inverseRotationAndScale);
    }
focal_method.class_method_signature: Transform.invert()
focal_method.full_signature: public Transform invert()
focal_method.identifier: invert
focal_method.invocations: invert rotateAndScaleVector invert
focal_method.modifiers: public
focal_method.parameters: ()
focal_method.return: Transform
focal_method.signature: Transform invert()