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

#include <transform.h>

Public Member Functions
Quaternion3f	getQuatRotation () const
	get quaternion More...

const Matrix3f &	getRotation () const
	get rotation More...

const Vec3f &	getTranslation () const
	get translation More...

Transform3f	inverse ()
	inverse transform More...

Transform3f &	inverseInPlace ()
	inverse transform More...

Transform3f	inverseTimes (const Transform3f &other) const
	inverse the transform and multiply with another More...

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

bool	operator!= (const Transform3f &other) const

Transform3f	operator* (const Transform3f &other) const
	multiply with another transform More...

const Transform3f &	operator*= (const Transform3f &other)
	multiply with another transform More...

Transform3f &	operator= (const Transform3f &tf)
	operator = More...

bool	operator== (const Transform3f &other) const

const Matrix3f &	rotation () const
	get rotation More...

Matrix3f &	rotation ()
	get rotation More...

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

void	setQuatRotation (const Quaternion3f &q_)
	set transform from rotation 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 Quaternion3f &q_, const Vec3f &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 >
Vec3f	transform (const Eigen::MatrixBase< Derived > &v) const
	transform a given vector by the transform More...

	Transform3f ()
	Default transform is no movement. More...

template<typename Matrixx3Like , typename Vector3Like >
	Transform3f (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation. More...

template<typename Vector3Like >
	Transform3f (const Quaternion3f &q_, const Eigen::MatrixBase< Vector3Like > &T_)
	Construct transform from rotation and translation. More...

	Transform3f (const Matrix3f &R_)
	Construct transform from rotation. More...

	Transform3f (const Quaternion3f &q_)
	Construct transform from rotation. More...

	Transform3f (const Vec3f &T_)
	Construct transform from translation. More...

	Transform3f (const Transform3f &tf)
	Construct transform from other transform. More...

const Vec3f &	translation () const
	get translation More...

Vec3f &	translation ()
	get translation More...

Static Public Member Functions
static Transform3f	Identity ()

Private Attributes
Matrix3f	R
	Matrix cache. More...

Vec3f	T
	Tranlation vector. More...

Detailed Description

Simple transform class used locally by InterpMotion.

Definition at line 54 of file transform.h.

Constructor & Destructor Documentation

◆ Transform3f() [1/7]

hpp::fcl::Transform3f::Transform3f ( )

inline

Default transform is no movement.

Definition at line 63 of file transform.h.

◆ Transform3f() [2/7]

template<typename Matrixx3Like , typename Vector3Like >

hpp::fcl::Transform3f::Transform3f	(	const Eigen::MatrixBase< Matrixx3Like > &	R_,
		const Eigen::MatrixBase< Vector3Like > &	T_
	)

inline

Construct transform from rotation and translation.

Definition at line 71 of file transform.h.

◆ Transform3f() [3/7]

template<typename Vector3Like >

hpp::fcl::Transform3f::Transform3f	(	const Quaternion3f &	q_,
		const Eigen::MatrixBase< Vector3Like > &	T_
	)

inline

Construct transform from rotation and translation.

Definition at line 77 of file transform.h.

◆ Transform3f() [4/7]

hpp::fcl::Transform3f::Transform3f ( const Matrix3f & R_ )

inline

Construct transform from rotation.

Definition at line 81 of file transform.h.

◆ Transform3f() [5/7]

hpp::fcl::Transform3f::Transform3f ( const Quaternion3f & q_ )

inline

Construct transform from rotation.

Definition at line 84 of file transform.h.

◆ Transform3f() [6/7]

hpp::fcl::Transform3f::Transform3f ( const Vec3f & T_ )

inline

Construct transform from translation.

Definition at line 87 of file transform.h.

◆ Transform3f() [7/7]

hpp::fcl::Transform3f::Transform3f ( const Transform3f & tf )

inline

Construct transform from other transform.

Definition at line 90 of file transform.h.

Member Function Documentation

◆ getQuatRotation()

Quaternion3f hpp::fcl::Transform3f::getQuatRotation ( ) const

inline

get quaternion

Definition at line 118 of file transform.h.

◆ getRotation()

const Matrix3f& hpp::fcl::Transform3f::getRotation ( ) const

inline

get rotation

Definition at line 109 of file transform.h.

◆ getTranslation()

const Vec3f& hpp::fcl::Transform3f::getTranslation ( ) const

inline

get translation

Definition at line 100 of file transform.h.

◆ Identity()

static Transform3f hpp::fcl::Transform3f::Identity ( )

inlinestatic

Definition at line 67 of file transform.h.

◆ inverse()

Transform3f hpp::fcl::Transform3f::inverse ( )

inline

inverse transform

Definition at line 165 of file transform.h.

◆ inverseInPlace()

Transform3f& hpp::fcl::Transform3f::inverseInPlace ( )

inline

inverse transform

Definition at line 158 of file transform.h.

◆ inverseTimes()

Transform3f hpp::fcl::Transform3f::inverseTimes ( const Transform3f & other ) const

inline

inverse the transform and multiply with another

Definition at line 170 of file transform.h.

◆ isIdentity()

bool hpp::fcl::Transform3f::isIdentity ( const FCL_REAL & prec = Eigen::NumTraits<FCL_REAL>::dummy_precision() ) const

inline

check whether the transform is identity

Definition at line 187 of file transform.h.

◆ operator!=()

bool hpp::fcl::Transform3f::operator!= ( const Transform3f & other ) const

inline

Definition at line 203 of file transform.h.

◆ operator*()

Transform3f hpp::fcl::Transform3f::operator* ( const Transform3f & other ) const

inline

multiply with another transform

Definition at line 182 of file transform.h.

◆ operator*=()

const Transform3f& hpp::fcl::Transform3f::operator*= ( const Transform3f & other )

inline

multiply with another transform

Definition at line 175 of file transform.h.

◆ operator=()

Transform3f& hpp::fcl::Transform3f::operator= ( const Transform3f & tf )

inline

operator =

Definition at line 93 of file transform.h.

◆ operator==()

bool hpp::fcl::Transform3f::operator== ( const Transform3f & other ) const

inline

Definition at line 199 of file transform.h.

◆ rotation() [1/2]

const Matrix3f& hpp::fcl::Transform3f::rotation ( ) const

inline

get rotation

Definition at line 112 of file transform.h.

◆ rotation() [2/2]

Matrix3f& hpp::fcl::Transform3f::rotation ( )

inline

get rotation

Definition at line 115 of file transform.h.

◆ setIdentity()

void hpp::fcl::Transform3f::setIdentity ( )

inline

set the transform to be identity transform

Definition at line 194 of file transform.h.

◆ setQuatRotation()

void hpp::fcl::Transform3f::setQuatRotation ( const Quaternion3f & q_ )

inline

set transform from rotation

Definition at line 147 of file transform.h.

◆ setRotation()

template<typename Derived >

void hpp::fcl::Transform3f::setRotation ( const Eigen::MatrixBase< Derived > & R_ )

inline

set transform from rotation

Definition at line 136 of file transform.h.

◆ setTransform() [1/2]

template<typename Matrix3Like , typename Vector3Like >

void hpp::fcl::Transform3f::setTransform	(	const Eigen::MatrixBase< Matrix3Like > &	R_,
		const Eigen::MatrixBase< Vector3Like > &	T_
	)

inline

set transform from rotation and translation

Definition at line 122 of file transform.h.

◆ setTransform() [2/2]

void hpp::fcl::Transform3f::setTransform	(	const Quaternion3f &	q_,
		const Vec3f &	T_
	)

inline

set transform from rotation and translation

Definition at line 129 of file transform.h.

◆ setTranslation()

template<typename Derived >

void hpp::fcl::Transform3f::setTranslation ( const Eigen::MatrixBase< Derived > & T_ )

inline

set transform from translation

Definition at line 142 of file transform.h.

◆ transform()

template<typename Derived >

Vec3f hpp::fcl::Transform3f::transform ( const Eigen::MatrixBase< Derived > & v ) const

inline

transform a given vector by the transform

Definition at line 153 of file transform.h.

◆ translation() [1/2]

const Vec3f& hpp::fcl::Transform3f::translation ( ) const

inline

get translation

Definition at line 103 of file transform.h.

◆ translation() [2/2]

Vec3f& hpp::fcl::Transform3f::translation ( )

inline

get translation

Definition at line 106 of file transform.h.

Member Data Documentation

◆ R

Matrix3f hpp::fcl::Transform3f::R

private

Matrix cache.

Definition at line 56 of file transform.h.

◆ T

Vec3f hpp::fcl::Transform3f::T

private

Tranlation vector.

Definition at line 59 of file transform.h.

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

transform.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transform3f() [1/7]

◆ Transform3f() [2/7]

◆ Transform3f() [3/7]

◆ Transform3f() [4/7]

◆ Transform3f() [5/7]

◆ Transform3f() [6/7]

◆ Transform3f() [7/7]

Member Function Documentation

◆ getQuatRotation()

◆ getRotation()

◆ getTranslation()

◆ Identity()

◆ inverse()

◆ inverseInPlace()

◆ inverseTimes()

◆ isIdentity()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator=()

◆ operator==()

◆ rotation() [1/2]

◆ rotation() [2/2]

◆ setIdentity()

◆ setQuatRotation()

◆ setRotation()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTranslation()

◆ transform()

◆ translation() [1/2]

◆ translation() [2/2]

Member Data Documentation

◆ R

◆ T