Class Transform3f

Defined in File transform.h

Class Documentation

class Transform3f

Simple transform class used locally by InterpMotion.

Public Functions

inline Transform3f(): Default transform is no movement.

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

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

inline Transform3f(const Matrix3f &R_): Construct transform from rotation.

inline Transform3f(const Quaternion3f &q_): Construct transform from rotation.

inline Transform3f(const Vec3f &T_): Construct transform from translation.

inline Transform3f(const Transform3f &tf): Construct transform from other transform.

inline Transform3f &operator=(const Transform3f &tf): operator =

inline const Vec3f &getTranslation() const: get translation

inline const Vec3f &translation() const: get translation

inline Vec3f &translation(): get translation

inline const Matrix3f &getRotation() const: get rotation

inline const Matrix3f &rotation() const: get rotation

inline Matrix3f &rotation(): get rotation

inline Quaternion3f getQuatRotation() const: get quaternion

template<typename Matrix3Like, typename Vector3Like> inline void setTransform(const Eigen::MatrixBase<Matrix3Like> &R_, const Eigen::MatrixBase<Vector3Like> &T_): set transform from rotation and translation

inline void setTransform(const Quaternion3f &q_, const Vec3f &T_): set transform from rotation and translation

template<typename Derived> inline void setRotation(const Eigen::MatrixBase<Derived> &R_): set transform from rotation

template<typename Derived> inline void setTranslation(const Eigen::MatrixBase<Derived> &T_): set transform from translation

inline void setQuatRotation(const Quaternion3f &q_): set transform from rotation

template<typename Derived> inline Vec3f transform(const Eigen::MatrixBase<Derived> &v) const: transform a given vector by the transform

inline Transform3f &inverseInPlace(): inverse transform

inline Transform3f inverse(): inverse transform

inline Transform3f inverseTimes(const Transform3f &other) const: inverse the transform and multiply with another

inline const Transform3f &operator*=(const Transform3f &other): multiply with another transform

inline Transform3f operator*(const Transform3f &other) const: multiply with another transform

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

inline void setIdentity(): set the transform to be identity transform

inline bool operator==(const Transform3f &other) const

inline bool operator!=(const Transform3f &other) const

Public Static Functions

static inline Transform3f Identity()