The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. More...
#include <Transform.h>
Public Member Functions | |
| void | deSerialize (const struct TransformData &dataIn) |
| void | deSerializeDouble (const struct TransformDoubleData &dataIn) |
| void | deSerializeFloat (const struct TransformFloatData &dataIn) |
| TF2SIMD_FORCE_INLINE Matrix3x3 & | getBasis () |
| Return the basis matrix for the rotation. | |
| TF2SIMD_FORCE_INLINE const Matrix3x3 & | getBasis () const |
| Return the basis matrix for the rotation. | |
| void | getOpenGLMatrix (tf2Scalar *m) const |
| Fill an array representation. | |
| TF2SIMD_FORCE_INLINE Vector3 & | getOrigin () |
| Return the origin vector translation. | |
| TF2SIMD_FORCE_INLINE const Vector3 & | getOrigin () const |
| Return the origin vector translation. | |
| Quaternion | getRotation () const |
| Return a quaternion representing the rotation. | |
| Transform | inverse () const |
| Return the inverse of this transform. | |
| Transform | inverseTimes (const Transform &t) const |
| Return the inverse of this transform times the other transform. | |
| TF2SIMD_FORCE_INLINE Vector3 | invXform (const Vector3 &inVec) const |
| TF2SIMD_FORCE_INLINE void | mult (const Transform &t1, const Transform &t2) |
| Set the current transform as the value of the product of two transforms. | |
| TF2SIMD_FORCE_INLINE Vector3 | operator() (const Vector3 &x) const |
| Return the transform of the vector. | |
| TF2SIMD_FORCE_INLINE Vector3 | operator* (const Vector3 &x) const |
| Return the transform of the vector. | |
| TF2SIMD_FORCE_INLINE Quaternion | operator* (const Quaternion &q) const |
| Return the transform of the Quaternion. | |
| Transform | operator* (const Transform &t) const |
| Return the product of this transform and the other. | |
| Transform & | operator*= (const Transform &t) |
| Multiply this Transform by another(this = this * another) | |
| TF2SIMD_FORCE_INLINE Transform & | operator= (const Transform &other) |
| Assignment Operator. | |
| void | serialize (struct TransformData &dataOut) const |
| void | serializeFloat (struct TransformFloatData &dataOut) const |
| TF2SIMD_FORCE_INLINE void | setBasis (const Matrix3x3 &basis) |
| Set the rotational element by Matrix3x3. | |
| void | setFromOpenGLMatrix (const tf2Scalar *m) |
| Set from an array. | |
| void | setIdentity () |
| Set this transformation to the identity. | |
| TF2SIMD_FORCE_INLINE void | setOrigin (const Vector3 &origin) |
| Set the translational element. | |
| TF2SIMD_FORCE_INLINE void | setRotation (const Quaternion &q) |
| Set the rotational element by Quaternion. | |
| Transform () | |
| No initialization constructor. | |
| TF2SIMD_FORCE_INLINE | Transform (const Quaternion &q, const Vector3 &c=Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0))) |
| Constructor from Quaternion (optional Vector3 ) | |
| TF2SIMD_FORCE_INLINE | Transform (const Matrix3x3 &b, const Vector3 &c=Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0))) |
| Constructor from Matrix3x3 (optional Vector3) | |
| TF2SIMD_FORCE_INLINE | Transform (const Transform &other) |
| Copy constructor. | |
Static Public Member Functions | |
| static const Transform & | getIdentity () |
| Return an identity transform. | |
Private Attributes | |
| Matrix3x3 | m_basis |
| Storage for the rotation. | |
| Vector3 | m_origin |
| Storage for the translation. | |
The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes.
Definition at line 32 of file Transform.h.
| tf2::Transform::Transform | ( | ) | [inline] |
No initialization constructor.
Definition at line 42 of file Transform.h.
| TF2SIMD_FORCE_INLINE tf2::Transform::Transform | ( | const Quaternion & | q, |
| const Vector3 & | c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0)) |
||
| ) | [inline, explicit] |
Constructor from Quaternion (optional Vector3 )
| q | Rotation from quaternion |
| c | Translation from Vector (default 0,0,0) |
Definition at line 46 of file Transform.h.
| TF2SIMD_FORCE_INLINE tf2::Transform::Transform | ( | const Matrix3x3 & | b, |
| const Vector3 & | c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0)) |
||
| ) | [inline, explicit] |
Constructor from Matrix3x3 (optional Vector3)
| b | Rotation from Matrix |
| c | Translation from Vector default (0,0,0) |
Definition at line 55 of file Transform.h.
| TF2SIMD_FORCE_INLINE tf2::Transform::Transform | ( | const Transform & | other | ) | [inline] |
Copy constructor.
Definition at line 61 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::deSerialize | ( | const struct TransformData & | dataIn | ) |
Definition at line 279 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::deSerializeDouble | ( | const struct TransformDoubleData & | dataIn | ) |
Definition at line 291 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::deSerializeFloat | ( | const struct TransformFloatData & | dataIn | ) |
Definition at line 285 of file Transform.h.
| TF2SIMD_FORCE_INLINE Matrix3x3& tf2::Transform::getBasis | ( | ) | [inline] |
Return the basis matrix for the rotation.
Definition at line 111 of file Transform.h.
| TF2SIMD_FORCE_INLINE const Matrix3x3& tf2::Transform::getBasis | ( | ) | const [inline] |
Return the basis matrix for the rotation.
Definition at line 113 of file Transform.h.
| static const Transform& tf2::Transform::getIdentity | ( | ) | [inline, static] |
Return an identity transform.
Definition at line 202 of file Transform.h.
| void tf2::Transform::getOpenGLMatrix | ( | tf2Scalar * | m | ) | const [inline] |
Fill an array representation.
| m | A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 138 of file Transform.h.
| TF2SIMD_FORCE_INLINE Vector3& tf2::Transform::getOrigin | ( | ) | [inline] |
Return the origin vector translation.
Definition at line 116 of file Transform.h.
| TF2SIMD_FORCE_INLINE const Vector3& tf2::Transform::getOrigin | ( | ) | const [inline] |
Return the origin vector translation.
Definition at line 118 of file Transform.h.
| Quaternion tf2::Transform::getRotation | ( | ) | const [inline] |
Return a quaternion representing the rotation.
Definition at line 121 of file Transform.h.
| Transform tf2::Transform::inverse | ( | ) | const [inline] |
Return the inverse of this transform.
Definition at line 187 of file Transform.h.
| TF2SIMD_FORCE_INLINE Transform tf2::Transform::inverseTimes | ( | const Transform & | t | ) | const |
Return the inverse of this transform times the other transform.
| t | The other transform return this.inverse() * the other |
Definition at line 229 of file Transform.h.
| TF2SIMD_FORCE_INLINE Vector3 tf2::Transform::invXform | ( | const Vector3 & | inVec | ) | const |
Definition at line 222 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::mult | ( | const Transform & | t1, |
| const Transform & | t2 | ||
| ) | [inline] |
Set the current transform as the value of the product of two transforms.
Definition at line 78 of file Transform.h.
| TF2SIMD_FORCE_INLINE Vector3 tf2::Transform::operator() | ( | const Vector3 & | x | ) | const [inline] |
Return the transform of the vector.
Definition at line 91 of file Transform.h.
| TF2SIMD_FORCE_INLINE Vector3 tf2::Transform::operator* | ( | const Vector3 & | x | ) | const [inline] |
Return the transform of the vector.
Definition at line 99 of file Transform.h.
| TF2SIMD_FORCE_INLINE Quaternion tf2::Transform::operator* | ( | const Quaternion & | q | ) | const [inline] |
Return the transform of the Quaternion.
Definition at line 105 of file Transform.h.
| TF2SIMD_FORCE_INLINE Transform tf2::Transform::operator* | ( | const Transform & | t | ) | const |
Return the product of this transform and the other.
Definition at line 237 of file Transform.h.
Multiply this Transform by another(this = this * another)
| t | The other transform |
Definition at line 179 of file Transform.h.
| TF2SIMD_FORCE_INLINE Transform& tf2::Transform::operator= | ( | const Transform & | other | ) | [inline] |
Assignment Operator.
Definition at line 67 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::serialize | ( | struct TransformData & | dataOut | ) | const |
Definition at line 266 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::serializeFloat | ( | struct TransformFloatData & | dataOut | ) | const |
Definition at line 272 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::setBasis | ( | const Matrix3x3 & | basis | ) | [inline] |
Set the rotational element by Matrix3x3.
Definition at line 158 of file Transform.h.
| void tf2::Transform::setFromOpenGLMatrix | ( | const tf2Scalar * | m | ) | [inline] |
Set from an array.
| m | A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 130 of file Transform.h.
| void tf2::Transform::setIdentity | ( | ) | [inline] |
Set this transformation to the identity.
Definition at line 171 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::setOrigin | ( | const Vector3 & | origin | ) | [inline] |
Set the translational element.
| origin | The vector to set the translation to |
Definition at line 149 of file Transform.h.
| TF2SIMD_FORCE_INLINE void tf2::Transform::setRotation | ( | const Quaternion & | q | ) | [inline] |
Set the rotational element by Quaternion.
Definition at line 164 of file Transform.h.
Matrix3x3 tf2::Transform::m_basis [private] |
Storage for the rotation.
Definition at line 35 of file Transform.h.
Vector3 tf2::Transform::m_origin [private] |
Storage for the translation.
Definition at line 37 of file Transform.h.