coal::Transform3s Class Reference

Simple transform class used locally by InterpMotion. More...

#include <coal/math/transform.h>

Public Member Functions
	Transform3s ()
	Default transform is no movement.
template<typename Matrixx3Like, typename Vector3Like>
	Transform3s (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation.
template<typename Vector3Like>
	Transform3s (const Quatf &q_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation.
	Transform3s (const Matrix3s &R_)
	Construct transform from rotation.
	Transform3s (const Quatf &q_)
	Construct transform from rotation.
	Transform3s (const Vec3s &T_)
	Construct transform from translation.
	Transform3s (const Transform3s &tf)
	Construct transform from other transform.
Transform3s &	operator= (const Transform3s &tf)
	operator =
const Vec3s &	getTranslation () const
	get translation
const Vec3s &	translation () const
	get translation
Vec3s &	translation ()
	get translation
const Matrix3s &	getRotation () const
	get rotation
const Matrix3s &	rotation () const
	get rotation
Matrix3s &	rotation ()
	get rotation
Quatf	getQuatRotation () const
	get quaternion
template<typename Matrix3Like, typename Vector3Like>
void	setTransform (const Eigen::MatrixBase< Matrix3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
	set transform from rotation and translation
void	setTransform (const Quatf &q_, const Vec3s &T_)
	set transform from rotation and translation
template<typename Derived>
void	setRotation (const Eigen::MatrixBase< Derived > &R_)
	set transform from rotation
template<typename Derived>
void	setTranslation (const Eigen::MatrixBase< Derived > &T_)
	set transform from translation
void	setQuatRotation (const Quatf &q_)
	set transform from rotation
template<typename Derived>
Vec3s	transform (const Eigen::MatrixBase< Derived > &v) const
	transform a given vector by the transform
template<typename Derived>
Vec3s	inverseTransform (const Eigen::MatrixBase< Derived > &v) const
	transform a given vector by the inverse of the transform
Transform3s &	inverseInPlace ()
	inverse transform
Transform3s	inverse ()
	inverse transform
Transform3s	inverseTimes (const Transform3s &other) const
	inverse the transform and multiply with another
const Transform3s &	operator*= (const Transform3s &other)
	multiply with another transform
Transform3s	operator* (const Transform3s &other) const
	multiply with another transform
bool	isIdentity (const CoalScalar &prec=Eigen::NumTraits< CoalScalar >::dummy_precision()) const
	check whether the transform is identity
void	setIdentity ()
	set the transform to be identity transform
void	setRandom ()
	set the transform to a random transform
bool	operator== (const Transform3s &other) const
bool	operator!= (const Transform3s &other) const

Static Public Member Functions
static Transform3s	Identity ()
static Transform3s	Random ()
	return a random transform

Detailed Description

Simple transform class used locally by InterpMotion.

Constructor & Destructor Documentation

Transform3s() [1/7]

coal::Transform3s::Transform3s ( )

inline

Default transform is no movement.

Transform3s() [2/7]

template<typename Matrixx3Like, typename Vector3Like>

coal::Transform3s::Transform3s ( const Eigen::MatrixBase< Matrixx3Like > & R_, const Eigen::MatrixBase< Vector3Like > & T_ )

inline

Construct transform from rotation and translation.

Transform3s() [3/7]

template<typename Vector3Like>

coal::Transform3s::Transform3s ( const Quatf & q_, const Eigen::MatrixBase< Vector3Like > & T_ )

inline

Construct transform from rotation and translation.

Transform3s() [4/7]

coal::Transform3s::Transform3s ( const Matrix3s & R_ )

inline

Construct transform from rotation.

Transform3s() [5/7]

coal::Transform3s::Transform3s ( const Quatf & q_ )

inline

Construct transform from rotation.

Transform3s() [6/7]

coal::Transform3s::Transform3s ( const Vec3s & T_ )

inline

Construct transform from translation.

Transform3s() [7/7]

coal::Transform3s::Transform3s ( const Transform3s & tf )

inline

Construct transform from other transform.

Member Function Documentation

getQuatRotation()

Quatf coal::Transform3s::getQuatRotation ( ) const

inline

get quaternion

getRotation()

const Matrix3s & coal::Transform3s::getRotation ( ) const

inline

get rotation

getTranslation()

const Vec3s & coal::Transform3s::getTranslation ( ) const

inline

get translation

Identity()

Transform3s coal::Transform3s::Identity ( )

inlinestatic

inverse()

Transform3s coal::Transform3s::inverse ( )

inline

inverse transform

inverseInPlace()

Transform3s & coal::Transform3s::inverseInPlace ( )

inline

inverse transform

inverseTimes()

Transform3s coal::Transform3s::inverseTimes ( const Transform3s & other ) const

inline

inverse the transform and multiply with another

inverseTransform()

template<typename Derived>

Vec3s coal::Transform3s::inverseTransform ( const Eigen::MatrixBase< Derived > & v ) const

inline

transform a given vector by the inverse of the transform

isIdentity()

bool coal::Transform3s::isIdentity ( const CoalScalar & prec = Eigen::NumTraits<CoalScalar>::dummy_precision() ) const

inline

check whether the transform is identity

operator!=()

bool coal::Transform3s::operator!= ( const Transform3s & other ) const

inline

operator*()

Transform3s coal::Transform3s::operator* ( const Transform3s & other ) const

inline

multiply with another transform

operator*=()

const Transform3s & coal::Transform3s::operator*= ( const Transform3s & other )

inline

multiply with another transform

operator=()

Transform3s & coal::Transform3s::operator= ( const Transform3s & tf )

inline

operator =

operator==()

bool coal::Transform3s::operator== ( const Transform3s & other ) const

inline

Random()

Transform3s coal::Transform3s::Random ( )

inlinestatic

return a random transform

rotation() [1/2]

Matrix3s & coal::Transform3s::rotation ( )

inline

get rotation

rotation() [2/2]

const Matrix3s & coal::Transform3s::rotation ( ) const

inline

get rotation

setIdentity()

void coal::Transform3s::setIdentity ( )

inline

set the transform to be identity transform

setQuatRotation()

void coal::Transform3s::setQuatRotation ( const Quatf & q_ )

inline

set transform from rotation

setRandom()

void coal::Transform3s::setRandom ( )

inline

set the transform to a random transform

setRotation()

template<typename Derived>

void coal::Transform3s::setRotation ( const Eigen::MatrixBase< Derived > & R_ )

inline

set transform from rotation

setTransform() [1/2]

template<typename Matrix3Like, typename Vector3Like>

void coal::Transform3s::setTransform ( const Eigen::MatrixBase< Matrix3Like > & R_, const Eigen::MatrixBase< Vector3Like > & T_ )

inline

set transform from rotation and translation

setTransform() [2/2]

void coal::Transform3s::setTransform ( const Quatf & q_, const Vec3s & T_ )

inline

set transform from rotation and translation

setTranslation()

template<typename Derived>

void coal::Transform3s::setTranslation ( const Eigen::MatrixBase< Derived > & T_ )

inline

set transform from translation

transform()

template<typename Derived>

Vec3s coal::Transform3s::transform ( const Eigen::MatrixBase< Derived > & v ) const

inline

transform a given vector by the transform

translation() [1/2]

Vec3s & coal::Transform3s::translation ( )

inline

get translation

translation() [2/2]

const Vec3s & coal::Transform3s::translation ( ) const

inline

get translation

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

• include/coal/math/transform.h