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

#include <transform.h>

Public Member Functions
Quatf	getQuatRotation () const
	get quaternion More...

const Matrix3s &	getRotation () const
	get rotation More...

const Vec3s &	getTranslation () const
	get translation More...

Transform3s	inverse ()
	inverse transform More...

Transform3s &	inverseInPlace ()
	inverse transform More...

Transform3s	inverseTimes (const Transform3s &other) const
	inverse the transform and multiply with another More...

template<typename Derived >
Vec3s	inverseTransform (const Eigen::MatrixBase< Derived > &v) const
	transform a given vector by the inverse of the transform More...

bool	isIdentity (const CoalScalar &prec=Eigen::NumTraits< CoalScalar >::dummy_precision()) const
	check whether the transform is identity More...

bool	operator!= (const Transform3s &other) const

Transform3s	operator* (const Transform3s &other) const
	multiply with another transform More...

const Transform3s &	operator*= (const Transform3s &other)
	multiply with another transform More...

Transform3s &	operator= (const Transform3s &tf)
	operator = More...

bool	operator== (const Transform3s &other) const

Matrix3s &	rotation ()
	get rotation More...

const Matrix3s &	rotation () const
	get rotation More...

void	setIdentity ()
	set the transform to be identity transform More...

void	setQuatRotation (const Quatf &q_)
	set transform from rotation More...

void	setRandom ()
	set the transform to a random transform More...

template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R_)
	set transform from rotation More...

template<typename Matrix3Like , typename Vector3Like >
void	setTransform (const Eigen::MatrixBase< Matrix3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
	set transform from rotation and translation More...

void	setTransform (const Quatf &q_, const Vec3s &T_)
	set transform from rotation and translation More...

template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &T_)
	set transform from translation More...

template<typename Derived >
Vec3s	transform (const Eigen::MatrixBase< Derived > &v) const
	transform a given vector by the transform More...

	Transform3s ()
	Default transform is no movement. More...

template<typename Matrixx3Like , typename Vector3Like >
	Transform3s (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation. More...

	Transform3s (const Matrix3s &R_)
	Construct transform from rotation. More...

	Transform3s (const Quatf &q_)
	Construct transform from rotation. More...

template<typename Vector3Like >
	Transform3s (const Quatf &q_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation. More...

	Transform3s (const Transform3s &tf)
	Construct transform from other transform. More...

	Transform3s (const Vec3s &T_)
	Construct transform from translation. More...

Vec3s &	translation ()
	get translation More...

const Vec3s &	translation () const
	get translation More...

Static Public Member Functions
static Transform3s	Identity ()

static Transform3s	Random ()
	return a random transform More...

Private Attributes
Matrix3s	R
	Matrix cache. More...

Vec3s	T
	Translation vector. More...

Detailed Description

Simple transform class used locally by InterpMotion.

Definition at line 55 of file coal/math/transform.h.

Constructor & Destructor Documentation

◆ Transform3s() [1/7]

coal::Transform3s::Transform3s ( )

inline

Default transform is no movement.

Definition at line 64 of file coal/math/transform.h.

◆ 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.

Definition at line 72 of file coal/math/transform.h.

◆ Transform3s() [3/7]

template<typename Vector3Like >

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

inline

Construct transform from rotation and translation.

Definition at line 78 of file coal/math/transform.h.

◆ Transform3s() [4/7]

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

inline

Construct transform from rotation.

Definition at line 82 of file coal/math/transform.h.

◆ Transform3s() [5/7]

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

inline

Construct transform from rotation.

Definition at line 85 of file coal/math/transform.h.

◆ Transform3s() [6/7]

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

inline

Construct transform from translation.

Definition at line 88 of file coal/math/transform.h.

◆ Transform3s() [7/7]

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

inline

Construct transform from other transform.

Definition at line 91 of file coal/math/transform.h.

Member Function Documentation

◆ getQuatRotation()

Quatf coal::Transform3s::getQuatRotation ( ) const

inline

get quaternion

Definition at line 119 of file coal/math/transform.h.

◆ getRotation()

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

inline

get rotation

Definition at line 110 of file coal/math/transform.h.

◆ getTranslation()

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

inline

get translation

Definition at line 101 of file coal/math/transform.h.

◆ Identity()

static Transform3s coal::Transform3s::Identity ( )

inlinestatic

Definition at line 68 of file coal/math/transform.h.

◆ inverse()

Transform3s coal::Transform3s::inverse ( )

inline

inverse transform

Definition at line 170 of file coal/math/transform.h.

◆ inverseInPlace()

Transform3s& coal::Transform3s::inverseInPlace ( )

inline

inverse transform

Definition at line 163 of file coal/math/transform.h.

◆ inverseTimes()

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

inline

inverse the transform and multiply with another

Definition at line 175 of file coal/math/transform.h.

◆ 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

Definition at line 158 of file coal/math/transform.h.

◆ isIdentity()

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

inline

check whether the transform is identity

Definition at line 192 of file coal/math/transform.h.

◆ operator!=()

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

inline

Definition at line 218 of file coal/math/transform.h.

◆ operator*()

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

inline

multiply with another transform

Definition at line 187 of file coal/math/transform.h.

◆ operator*=()

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

inline

multiply with another transform

Definition at line 180 of file coal/math/transform.h.

◆ operator=()

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

inline

operator =

Definition at line 94 of file coal/math/transform.h.

◆ operator==()

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

inline

Definition at line 214 of file coal/math/transform.h.

◆ Random()

static Transform3s coal::Transform3s::Random ( )

inlinestatic

return a random transform

Definition at line 205 of file coal/math/transform.h.

◆ rotation() [1/2]

Matrix3s& coal::Transform3s::rotation ( )

inline

get rotation

Definition at line 116 of file coal/math/transform.h.

◆ rotation() [2/2]

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

inline

get rotation

Definition at line 113 of file coal/math/transform.h.

◆ setIdentity()

void coal::Transform3s::setIdentity ( )

inline

set the transform to be identity transform

Definition at line 199 of file coal/math/transform.h.

◆ setQuatRotation()

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

inline

set transform from rotation

Definition at line 148 of file coal/math/transform.h.

◆ setRandom()

void coal::Transform3s::setRandom ( )

inline

set the transform to a random transform

Definition at line 254 of file coal/math/transform.h.

◆ setRotation()

template<typename Derived >

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

inline

set transform from rotation

Definition at line 137 of file coal/math/transform.h.

◆ 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

Definition at line 123 of file coal/math/transform.h.

◆ setTransform() [2/2]

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

inline

set transform from rotation and translation

Definition at line 130 of file coal/math/transform.h.

◆ setTranslation()

template<typename Derived >

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

inline

set transform from translation

Definition at line 143 of file coal/math/transform.h.

◆ transform()

template<typename Derived >

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

inline

transform a given vector by the transform

Definition at line 152 of file coal/math/transform.h.

◆ translation() [1/2]

Vec3s& coal::Transform3s::translation ( )

inline

get translation

Definition at line 107 of file coal/math/transform.h.

◆ translation() [2/2]

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

inline

get translation

Definition at line 104 of file coal/math/transform.h.

Member Data Documentation

◆ R

Matrix3s coal::Transform3s::R

private

Matrix cache.

Definition at line 57 of file coal/math/transform.h.

◆ T

Vec3s coal::Transform3s::T

private

Translation vector.

Definition at line 60 of file coal/math/transform.h.

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

coal/math/transform.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transform3s() [1/7]

◆ Transform3s() [2/7]

◆ Transform3s() [3/7]

◆ Transform3s() [4/7]

◆ Transform3s() [5/7]

◆ Transform3s() [6/7]

◆ Transform3s() [7/7]

Member Function Documentation

◆ getQuatRotation()

◆ getRotation()

◆ getTranslation()

◆ Identity()

◆ inverse()

◆ inverseInPlace()

◆ inverseTimes()

◆ inverseTransform()

◆ isIdentity()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator=()

◆ operator==()

◆ Random()

◆ rotation() [1/2]

◆ rotation() [2/2]

◆ setIdentity()

◆ setQuatRotation()

◆ setRandom()

◆ setRotation()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTranslation()

◆ transform()

◆ translation() [1/2]

◆ translation() [2/2]

Member Data Documentation

◆ R

◆ T