Public Member Functions
rtc::Transform2D< T > Class Template Reference

#include <rtcTransform2D.h>

Inheritance diagram for rtc::Transform2D< T >:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void apply (Vec2< T > &v) const
Vec2< T > apply (const Vec2< T > &v) const
void get (Rotation2D< T > &rot, Vec2< T > &trans) const
void get (T &theta, T &dx, T &dy) const
Rotation2D< T > getRot () const
void getRot (T &dtheta) const
Vec2< T > getTrans () const
void getTrans (T &dx, T &dy) const
Transform2D< T > inverted () const
Vec< T, 3 > operator* (const Vec2< T > &v) const
Transform2D< T > relativeTo (const Transform2D< T > &referenceFrame) const
void rotate (T theta)
void set (const Rotation2D< T > &rot)
void set (const Vec2< T > &trans)
void set (const Rotation2D< T > &rot, const Vec2< T > &trans)
void set (const T &dtheta, const T &dx, const T &dy)
 Transform2D ()
 Transform2D (const Mat< T, 3, 3 > &m)
 Transform2D (const SMat3< T > &m)
 Transform2D (const Rotation2D< T > &rot)
 Transform2D (const Vec2< T > &trans)
 Transform2D (const Rotation2D< T > &rot, const Vec2< T > &trans)
 Transform2D (const T &dtheta, const T &dx, const T &dy)
void translate (T x, T y)
void translate (const Vec2< T > &t)

Detailed Description

template<class T>
class rtc::Transform2D< T >

The Tranform2D Matrix Class

Defines transformation class for rigid body rotations and translations that knows how to construct itself from rotation matrices.

Definition at line 47 of file rtcTransform2D.h.


Constructor & Destructor Documentation

template<class T >
rtc::Transform2D< T >::Transform2D ( ) [inline]

Ctor that initializes to no rotation and no translation.

Definition at line 103 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const Mat< T, 3, 3 > &  m) [inline]

Ctor that initializes from Mat<T,3,3>.

Definition at line 143 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const SMat3< T > &  m) [inline]

Ctor that initializes from SMat<T,3>.

Definition at line 131 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const Rotation2D< T > &  r) [inline]

Ctor that initializes to the given rotation and no translation.

Definition at line 110 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const Vec2< T > &  t) [inline]

Ctor that initializes to no rotation and the given translation.

Definition at line 117 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const Rotation2D< T > &  rot,
const Vec2< T > &  trans 
) [inline]

Ctor that starts with the given rotation and translation.

Definition at line 124 of file rtcTransform2D.h.

template<class T >
rtc::Transform2D< T >::Transform2D ( const T &  dtheta,
const T &  dx,
const T &  dy 
) [inline]

Ctor that initializes from dx, dy, dtheta.

Definition at line 136 of file rtcTransform2D.h.


Member Function Documentation

template<class T >
void rtc::Transform2D< T >::apply ( Vec2< T > &  v) const [inline]

Helper function that allows a transform to operate on a point.

Definition at line 277 of file rtcTransform2D.h.

template<class T >
Vec2< T > rtc::Transform2D< T >::apply ( const Vec2< T > &  v) const [inline]

Helper function that allows a transform to operate on a point.

Definition at line 285 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::get ( Rotation2D< T > &  r,
Vec2< T > &  t 
) const [inline]

Get the rotation and translation

Definition at line 150 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::get ( T &  theta,
T &  dx,
T &  dy 
) const [inline]

Get the rotation and translation

Definition at line 160 of file rtcTransform2D.h.

template<class T >
Rotation2D< T > rtc::Transform2D< T >::getRot ( ) const [inline]

Get the rotation

Definition at line 186 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::getRot ( T &  dtheta) const [inline]

Get the rotation

Definition at line 195 of file rtcTransform2D.h.

template<class T >
Vec2< T > rtc::Transform2D< T >::getTrans ( ) const [inline]

Get the translation

Definition at line 169 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::getTrans ( T &  dx,
T &  dy 
) const [inline]

Get the translation

Definition at line 177 of file rtcTransform2D.h.

template<class T >
Transform2D< T > rtc::Transform2D< T >::inverted ( ) const [inline]

Fast inverse of a rigid transform matrix. M = [ r t] [ 0 1]

inv(M) = [ r' -r'*t] [ 0 1]

Reimplemented from rtc::SMat3< T >.

Definition at line 298 of file rtcTransform2D.h.

template<class T >
Vec< T, 3 > rtc::Transform2D< T >::operator* ( const Vec2< T > &  v) const [inline]

Helper function that allows a tranform to operate on a point.

Definition at line 270 of file rtcTransform2D.h.

template<class T >
Transform2D< T > rtc::Transform2D< T >::relativeTo ( const Transform2D< T > &  referenceFrame) const [inline]

Converts to a new coordinate frame

Returns:
this transform relative to the provided reference frame

Definition at line 309 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::rotate ( theta) [inline]

Apply a rotation to the transform

Definition at line 239 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::set ( const Rotation2D< T > &  r) [inline]

Set only the rotation portion of the Transform2D.

Definition at line 205 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::set ( const Vec2< T > &  t) [inline]

Set only the translation portion of the Transform2D.

Definition at line 215 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::set ( const Rotation2D< T > &  r,
const Vec2< T > &  t 
) [inline]

Set to the given rotation and translation

Definition at line 224 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::set ( const T &  dtheta,
const T &  dx,
const T &  dy 
) [inline]

Set to the given rotation dtheta and translation dx/dy

Definition at line 232 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::translate ( _x,
_y 
) [inline]

Apply a translation to the transform

Definition at line 253 of file rtcTransform2D.h.

template<class T >
void rtc::Transform2D< T >::translate ( const Vec2< T > &  t) [inline]

Apply a translation to the transform

Definition at line 262 of file rtcTransform2D.h.


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


rtc
Author(s): Benjamin Pitzer
autogenerated on Thu Jan 2 2014 11:04:54