A rigid body transformation. More...
#include <matvec3D.h>
Public Member Functions | |
| const mat3 & | affine () const |
| transf | inverse () const |
| void | jacobian (double jac[]) |
| Creates a 6x6 jacobian from this transform. | |
| bool | operator!= (transf const &tr) const |
| transf const & | operator= (transf const &tr) |
| bool | operator== (transf const &tr) const |
| const Quaternion & | rotation () const |
| void | set (const SoTransform *IVt) |
| void | set (const mat3 &r, const vec3 &d) |
| void | set (const Quaternion &r, const vec3 &d) |
| void | tocol_Mat4 (col_Mat4 colTran) const |
| void | toColMajorMatrix (double t[][4]) const |
| void | toRowMajorMatrix (double t[][4]) const |
| void | toSoTransform (SoTransform *IVt) const |
| transf (const SoTransform *IVt) | |
| transf (const mat3 &r, const vec3 &d) | |
| transf (const Quaternion &r, const vec3 &d) | |
| transf () | |
| const vec3 & | translation () const |
Static Public Attributes | |
| static const transf | IDENTITY |
| The Identity transform (1,0,0,0)[0,0,0]. | |
Private Attributes | |
| mat3 | R |
| A 3x3 matrix storing the current rotation. | |
| Quaternion | rot |
| A 4x1 Quaternion storing the current rotation. | |
| vec3 | t |
| A 3x1 vector storing the current translation. | |
Friends | |
| transf | coordinate_transf (const position &origin, const vec3 &xaxis, const vec3 &yaxis) |
| position | operator* (position const &p, transf const &tr) |
| vec3 | operator* (vec3 const &v, transf const &tr) |
| transf | operator* (transf const &tr1, transf const &tr2) |
| std::ostream & | operator<< (std::ostream &os, const transf &tr) |
| vec3 | operator> (vec3 const &v, transf const &tr) |
| std::istream & | operator>> (std::istream &is, transf &tr) |
| transf | rotate_transf (double angle, const vec3 &axis) |
| transf | rotXYZ (double, double, double) |
| transf | translate_transf (const vec3 &v) |
A rigid body transformation.
The transform is stored as a rotation quaternion and a translation vector. A rotation matrix version is also stored so that it does not need to be recomputed each time it is requested. (This maybe eliminated at some point).
Definition at line 422 of file matvec3D.h.
| transf::transf | ( | ) | [inline] |
Default constructor, initializes the transform to the identity
Definition at line 436 of file matvec3D.h.
| transf::transf | ( | const Quaternion & | r, | |
| const vec3 & | d | |||
| ) | [inline] |
Initializes transform with a rotation quaternion and translation vector
Definition at line 439 of file matvec3D.h.
Initializes transform with a rotation matrix and translation vector
Definition at line 442 of file matvec3D.h.
| transf::transf | ( | const SoTransform * | IVt | ) | [inline] |
Initializes transform using an Inventor transform.
Definition at line 445 of file matvec3D.h.
| const mat3& transf::affine | ( | ) | const [inline] |
Returns the rotation portion of the transform as a 3x3 matrix.
Definition at line 463 of file matvec3D.h.
| transf transf::inverse | ( | ) | const [inline] |
Returns the inverse transformation.
Definition at line 1221 of file matvec3D.h.
| void transf::jacobian | ( | double | jac[] | ) |
Creates a 6x6 jacobian from this transform.
Creates a 6x6 jacobian from a transform. Code adapted from Peter Corke's Robot Toolbox for MATLAB.
MATLAB representation:
J = [ t(1:3,1)' cross(t(1:3,4),t(1:3,1))' t(1:3,2)' cross(t(1:3,4),t(1:3,2))' t(1:3,3)' cross(t(1:3,4),t(1:3,3))' zeros(3,3) t(1:3,1:3)' ];
The jacobian is returned is in column-major format.
Definition at line 185 of file matvec.cpp.
| bool transf::operator!= | ( | transf const & | tr | ) | const [inline] |
Returns the negation of the == operator.
Definition at line 481 of file matvec3D.h.
Assignment operator, copies transform tr.
Definition at line 1228 of file matvec3D.h.
| bool transf::operator== | ( | transf const & | tr | ) | const [inline] |
Compares two transforms. Returns true if both the rotations and translations are equal (according to their comparators).
Definition at line 1354 of file matvec3D.h.
| const Quaternion& transf::rotation | ( | ) | const [inline] |
Returns the rotation portion of the transform.
Definition at line 460 of file matvec3D.h.
| void transf::set | ( | const SoTransform * | IVt | ) | [inline] |
Sets the value of this transform by converting an Inventor transform.
Definition at line 1303 of file matvec3D.h.
Sets value of the transform with the rotation r and the translation d
Definition at line 455 of file matvec3D.h.
| void transf::set | ( | const Quaternion & | r, | |
| const vec3 & | d | |||
| ) | [inline] |
Sets value of the transform with the rotation r and the translation d
Definition at line 449 of file matvec3D.h.
| void transf::tocol_Mat4 | ( | col_Mat4 | colTran | ) | const [inline] |
Converts this transform to the collision system format, a 4x4 matrix.
Definition at line 1288 of file matvec3D.h.
| void transf::toColMajorMatrix | ( | double | mat[][4] | ) | const [inline] |
Converts this transform to a column major 4x4 matrix
Definition at line 1256 of file matvec3D.h.
| void transf::toRowMajorMatrix | ( | double | mat[][4] | ) | const [inline] |
Converts this transform to a row major 4x4 matrix
Definition at line 1272 of file matvec3D.h.
| void transf::toSoTransform | ( | SoTransform * | IVt | ) | const [inline] |
Converts this transform to Inventor format.
Definition at line 1249 of file matvec3D.h.
| const vec3& transf::translation | ( | ) | const [inline] |
Returns the translation portion of the transform.
Definition at line 466 of file matvec3D.h.
| transf coordinate_transf | ( | const position & | origin, | |
| const vec3 & | xaxis, | |||
| const vec3 & | yaxis | |||
| ) | [friend] |
Helper function that creates a tranform from the global frame to the new frame with its origin at position o, and with the given x and y axes.
Definition at line 1386 of file matvec3D.h.
Returns the result of transforming position p with transform tr.
Definition at line 1344 of file matvec3D.h.
Returns a vector that is the result of rotating vector v using transform tr.
Definition at line 1328 of file matvec3D.h.
Multiplies two transforms.
Definition at line 1317 of file matvec3D.h.
| std::ostream& operator<< | ( | std::ostream & | os, | |
| const transf & | tr | |||
| ) | [friend] |
Writes the 7 values of a transform tr formated as "(w, x, y, z) [v1,v2,v3]" to stream os.
Definition at line 578 of file matvec.cpp.
Definition at line 1334 of file matvec3D.h.
| std::istream& operator>> | ( | std::istream & | is, | |
| transf & | tr | |||
| ) | [friend] |
Reads the 7 values of a transform tr formated as "(w, x, y, z) [v1,v2,v3]" from stream is.
Definition at line 560 of file matvec.cpp.
Helper function that creates a tranform that has a rotation of angle radians about axis, and a zero translation.
Definition at line 1376 of file matvec3D.h.
| transf rotXYZ | ( | double | rx, | |
| double | ry, | |||
| double | rz | |||
| ) | [friend] |
Definition at line 1395 of file matvec3D.h.
Helper function that creates a transform with an identity rotation and a translation equal to vector v.
Definition at line 1366 of file matvec3D.h.
const transf transf::IDENTITY [static] |
The Identity transform (1,0,0,0)[0,0,0].
Definition at line 502 of file matvec3D.h.
A 3x3 matrix storing the current rotation.
Definition at line 425 of file matvec3D.h.
Quaternion transf::rot [private] |
A 4x1 Quaternion storing the current rotation.
Definition at line 431 of file matvec3D.h.
A 3x1 vector storing the current translation.
Definition at line 428 of file matvec3D.h.
