fcl::Transform3f Class Reference

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

#include <transform.h>

List of all members.

Public Member Functions
const Quaternion3f &	getQuatRotation () const
	get quaternion
const Matrix3f &	getRotation () const
	get rotation
const Vec3f &	getTranslation () const
	get translation
Transform3f &	inverse ()
	inverse transform
Transform3f	inverseTimes (const Transform3f &other) const
	inverse the transform and multiply with another
bool	isIdentity () const
	check whether the transform is identity
Transform3f	operator* (const Transform3f &other) const
	multiply with another transform
const Transform3f &	operator*= (const Transform3f &other)
	multiply with another transform
Transform3f &	operator= (const Transform3f &tf)
	operator =
void	setIdentity ()
	set the transform to be identity transform
void	setQuatRotation (const Quaternion3f &q_)
	set transform from rotation
void	setRotation (const Matrix3f &R_)
	set transform from rotation
void	setTransform (const Matrix3f &R_, const Vec3f &T_)
	set transform from rotation and translation
void	setTransform (const Quaternion3f &q_, const Vec3f &T_)
	set transform from rotation and translation
void	setTranslation (const Vec3f &T_)
	set transform from translation
Vec3f	transform (const Vec3f &v) const
	transform a given vector by the transform
	Transform3f ()
	Default transform is no movement.
	Transform3f (const Matrix3f &R_, const Vec3f &T_)
	Construct transform from rotation and translation.
	Transform3f (const Quaternion3f &q_, const Vec3f &T_)
	Construct transform from rotation and translation.
	Transform3f (const Matrix3f &R_)
	Construct transform from rotation.
	Transform3f (const Quaternion3f &q_)
	Construct transform from rotation.
	Transform3f (const Vec3f &T_)
	Construct transform from translation.
	Transform3f (const Transform3f &tf)
	Construct transform from another transform.
Private Member Functions
const Matrix3f &	getRotationInternal () const
Private Attributes
boost::mutex	lock_
bool	matrix_set
	Whether matrix cache is set.
Quaternion3f	q
	Rotation.
Matrix3f	R
	Matrix cache.
Vec3f	T
	Tranlation vector.

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Detailed Description

Simple transform class used locally by InterpMotion.

Definition at line 149 of file transform.h.

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Constructor & Destructor Documentation

fcl::Transform3f::Transform3f

(

)

[inline]

Default transform is no movement.

Definition at line 168 of file transform.h.

fcl::Transform3f::Transform3f	(	const Matrix3f &	R_,
		const Vec3f &	T_
	)		[inline]

Construct transform from rotation and translation.

Definition at line 174 of file transform.h.

fcl::Transform3f::Transform3f	(	const Quaternion3f &	q_,
		const Vec3f &	T_
	)		[inline]

Construct transform from rotation and translation.

Definition at line 182 of file transform.h.

fcl::Transform3f::Transform3f

(

const Matrix3f &

R_

)

[inline]

Construct transform from rotation.

Definition at line 189 of file transform.h.

fcl::Transform3f::Transform3f

(

const Quaternion3f &

q_

)

[inline]

Construct transform from rotation.

Definition at line 196 of file transform.h.

fcl::Transform3f::Transform3f

(

const Vec3f &

T_

)

[inline]

Construct transform from translation.

Definition at line 202 of file transform.h.

fcl::Transform3f::Transform3f

(

const Transform3f &

tf

)

[inline]

Construct transform from another transform.

Definition at line 209 of file transform.h.

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Member Function Documentation

const Quaternion3f& fcl::Transform3f::getQuatRotation

(

)

const [inline]

get quaternion

Definition at line 240 of file transform.h.

const Matrix3f& fcl::Transform3f::getRotation

(

)

const [inline]

get rotation

Definition at line 233 of file transform.h.

const Matrix3f & fcl::Transform3f::getRotationInternal

(

)

const [private]

Definition at line 373 of file transform.cpp.

const Vec3f& fcl::Transform3f::getTranslation

(

)

const [inline]

get translation

Definition at line 227 of file transform.h.

Transform3f& fcl::Transform3f::inverse

(

)

[inline]

inverse transform

Definition at line 290 of file transform.h.

Transform3f fcl::Transform3f::inverseTimes

(

const Transform3f &

other

)

const [inline]

inverse the transform and multiply with another

Definition at line 299 of file transform.h.

bool fcl::Transform3f::isIdentity

(

)

const [inline]

check whether the transform is identity

Definition at line 322 of file transform.h.

Transform3f fcl::Transform3f::operator*

(

const Transform3f &

other

)

const [inline]

multiply with another transform

Definition at line 315 of file transform.h.

const Transform3f& fcl::Transform3f::operator*=

(

const Transform3f &

other

)

[inline]

multiply with another transform

Definition at line 306 of file transform.h.

Transform3f& fcl::Transform3f::operator=

(

const Transform3f &

tf

)

[inline]

operator =

Definition at line 217 of file transform.h.

void fcl::Transform3f::setIdentity

(

)

[inline]

set the transform to be identity transform

Definition at line 328 of file transform.h.

void fcl::Transform3f::setQuatRotation

(

const Quaternion3f &

q_

)

[inline]

set transform from rotation

Definition at line 277 of file transform.h.

void fcl::Transform3f::setRotation

(

const Matrix3f &

R_

)

[inline]

set transform from rotation

Definition at line 263 of file transform.h.

void fcl::Transform3f::setTransform	(	const Matrix3f &	R_,
		const Vec3f &	T_
	)		[inline]

set transform from rotation and translation

Definition at line 246 of file transform.h.

void fcl::Transform3f::setTransform	(	const Quaternion3f &	q_,
		const Vec3f &	T_
	)		[inline]

set transform from rotation and translation

Definition at line 255 of file transform.h.

void fcl::Transform3f::setTranslation

(

const Vec3f &

T_

)

[inline]

set transform from translation

Definition at line 271 of file transform.h.

Vec3f fcl::Transform3f::transform

(

const Vec3f &

v

)

const [inline]

transform a given vector by the transform

Definition at line 284 of file transform.h.

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Member Data Documentation

boost::mutex fcl::Transform3f::lock_ [private]

Definition at line 151 of file transform.h.

bool fcl::Transform3f::matrix_set [mutable, private]

Whether matrix cache is set.

Definition at line 154 of file transform.h.

Quaternion3f fcl::Transform3f::q [private]

Rotation.

Definition at line 162 of file transform.h.

Matrix3f fcl::Transform3f::R [mutable, private]

Matrix cache.

Definition at line 156 of file transform.h.

Vec3f fcl::Transform3f::T [private]

Tranlation vector.

Definition at line 159 of file transform.h.

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

• transform.h
• transform.cpp