Class Transform3s

Defined in File transform.h

Class Documentation

class Transform3s

Simple transform class used locally by InterpMotion.

Public Functions

inline Transform3s(): Default transform is no movement.

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

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

inline Transform3s(const Matrix3s &R_): Construct transform from rotation.

inline Transform3s(const Quatf &q_): Construct transform from rotation.

inline Transform3s(const Vec3s &T_): Construct transform from translation.

inline Transform3s(const Transform3s &tf): Construct transform from other transform.

inline Transform3s &operator=(const Transform3s &tf): operator =

inline const Vec3s &getTranslation() const: get translation

inline const Vec3s &translation() const: get translation

inline Vec3s &translation(): get translation

inline const Matrix3s &getRotation() const: get rotation

inline const Matrix3s &rotation() const: get rotation

inline Matrix3s &rotation(): get rotation

inline Quatf getQuatRotation() const: get quaternion

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

inline void setTransform(const Quatf &q_, const Vec3s &T_): set transform from rotation and translation

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

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

inline void setQuatRotation(const Quatf &q_): set transform from rotation

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

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

inline Transform3s &inverseInPlace(): inverse transform

inline Transform3s inverse(): inverse transform

inline Transform3s inverseTimes(const Transform3s &other) const: inverse the transform and multiply with another

inline const Transform3s &operator*=(const Transform3s &other): multiply with another transform

inline Transform3s operator*(const Transform3s &other) const: multiply with another transform

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

inline void setIdentity(): set the transform to be identity transform

inline void setRandom(): set the transform to a random transform

inline bool operator==(const Transform3s &other) const

inline bool operator!=(const Transform3s &other) const

Public Static Functions

static inline Transform3s Identity()

static inline Transform3s Random(): return a random transform